Temporally Consistent Object 6D Pose Estimation for Robot Control
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21460%2F25%3A00380609" target="_blank" >RIV/68407700:21460/25:00380609 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/25:00380609
Result on the web
<a href="https://doi.org/10.1109/LRA.2024.3502052" target="_blank" >https://doi.org/10.1109/LRA.2024.3502052</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2024.3502052" target="_blank" >10.1109/LRA.2024.3502052</a>
Alternative languages
Result language
angličtina
Original language name
Temporally Consistent Object 6D Pose Estimation for Robot Control
Original language description
Single-view RGB object pose estimators have reached a level of precision and efficiency that makes them good candidates for vision-based robot control. However, off-the-shelf methods lack temporal consistency and robustness that are mandatory for a stable feedback control. In this work, we develop a factor graph approach to enforce temporal consistency of the object pose estimates. In particular, the proposed approach: (i) incorporates object motion models, (ii) explicitly estimates the object pose measurement uncertainty, and (iii) integrates the above two components in an online optimization-based estimator. We demonstrate that with appropriate outlier rejection and smoothing using the proposed factor graph approach, we can significantly improve the results on standardized pose estimation benchmarks. We experimentally validate the stability of the proposed approach for a feedback-based robot control task in which the object is tracked by the camera attached to a torque controlled manipulator.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
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Continuities
R - Projekt Ramcoveho programu EK
Others
Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Robotics and Automation Letters
ISSN
2377-3766
e-ISSN
2377-3766
Volume of the periodical
10
Issue of the periodical within the volume
1
Country of publishing house
US - UNITED STATES
Number of pages
8
Pages from-to
56-63
UT code for WoS article
001409531700006
EID of the result in the Scopus database
2-s2.0-85210290137