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QuadPose estimates full-body 18-DoF pose of quadruped robots from monocular video sequences

The authors propose QuadPose, which estimates the full-body 18-DoF pose of a quadruped robot from monocular video sequences, including the 6-DoF base pose and 12-DoF joint angles, and release QuadSyn, the first camera-to-quadruped robot pose benchmark. On QuadSyn, QuadPose achieves 92.18% PCK@2.5px and 85.94% ADD@20cm, with a mean joint-angle error of 3.65 degrees and a runtime of about 33 FPS.

Part of the event: QuadPose Achieves Monocular Whole-Body Pose Estimation for Quadruped Robots

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