PoseFusion: Multi-Scale Keypoint Correspondence for Monocular Camera-to-Robot Pose Estimation in Robotic Manipulation
Xujun Han,Shaochen Wang,Xiucai Huang,Zhen Kan,Xujun Han,Shaochen Wang,Xiucai Huang,Zhen Kan
Visual-based robot pose estimation is a fundamental challenge, involving the determination of the camera’s pose with respect to a robot. Conventional methods for camera-to-robot pose calibration rely on fiducial markers to establish keypoint correspondences. However, these approaches exhibit significant variability in accuracy and robustness, particularly in 2D keypoint detection. In this work, we...
