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QuadPose Achieves Monocular Whole-Body Pose Estimation for Quadruped Robots
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Seobin Hwang and co-authors propose QuadPose, which can estimate the 18-DoF whole-body 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 an average joint angle error of 3.65 degrees and a running speed of approximately 33 FPS.
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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.
arXiv cs.RO ·