External Camera-Based Mobile Robot Pose Estimation for Collaborative Perception with Smart Edge Sensors
Simon Bultmann,Raphael Memmesheimer,Sven Behnke,Simon Bultmann,Raphael Memmesheimer,Sven Behnke
We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural networks to detect the robot and estimate 2D keypoints defined at distinctive positions of the 3D robot model. Robot keypoint detections are synchronized and fused on ...
