PoseFusion: Multi-Scale Keypoint Correspondence for Monocular Camera-to-Robot Pose Estimation in Robotic Manipulation.
Xujun HanShaochen WangXiucai HuangZhen KanPublished in: ICRA (2024)
Keyphrases
- pose estimation
- multiscale
- mobile robot
- position and orientation
- robotic systems
- keypoints
- autonomous robots
- visual odometry
- human body
- computer vision
- d objects
- autonomous navigation
- image matching
- feature points
- degrees of freedom
- depth images
- real robot
- real time
- robot navigation
- point correspondences
- vision system
- path planning
- body parts
- simultaneous localization and mapping
- scale space
- indoor environments
- mobile robotics
- multiple cameras
- human pose
- ground plane
- image features
- multibody
- motion planning
- markerless
- robot arm
- robot manipulators
- object recognition
- humanoid robot
- inverse kinematics
- dynamic environments