RoboKeyGen: Robot Pose and Joint Angles Estimation via Diffusion-based 3D Keypoint Generation
Yang Tian,Jiyao Zhang,Guowei Huang,Bin Wang,Ping Wang,Jiangmiao Pang,Hao Dong,Yang Tian,Jiyao Zhang,Guowei Huang,Bin Wang,Ping Wang,Jiangmiao Pang,Hao Dong
Estimating robot pose and joint angles is significant in advanced robotics, enabling applications like robot collaboration and online hand-eye calibration. However, the introduction of unknown joint angles makes prediction more complex than simple robot pose estimation, due to its higher dimensionality. Previous methods either regress 3D keypoints directly or utilise a render&compare strategy. The...
