Real-time 6-DoF Pose Estimation by an Event-based Camera using Active LED Markers
Automation and Control Institute (ACIN), TU Wien（维也纳工业大学自动化与控制研究所（ACIN））；Austrian Institute of Technology (AIT)（奥地利技术研究院（AIT））；Prophesee GmbH（Prophesee有限公司）
Gerald Ebmer, Adam Loch, Minh Nhat Vu, Germain Haessig, Roberto Mecca, Markus Vincze, Christian Hartl-Nesic, Andreas Kugi
备注：
14 pages, 12 figures, this paper has been accepted to WACV 2024
Real-time applications for autonomous operations depend largely on fast and robust vision-based localization systems. Since image processing tasks require processing large amounts of data, the computational resources often limit the performance of other processes. To overcome this limitation, traditional marker-based localization systems are widely used since they are easy to integrate and achieve reliable accuracy. However, classical marker-based localization systems significantly depend on standard cameras with low frame rates, which often lack accuracy due to motion blur. In contrast, event-based cameras provide high temporal resolution and a high dynamic range, which can be utilized for fast localization tasks, even under challenging visual conditions. This paper proposes a simple but effective event-based pose estimation system using active LED markers (ALM) for fast and accurate pose estimation. The proposed algorithm is able to operate in real time with a latency below \SI{0.5}{\milli\second} while maintaining output rates of \SI{3}{\kilo \hertz}. Experimental results in static and dynamic scenarios are presented to demonstrate the performance of the proposed approach in terms of computational speed and absolute accuracy, using the OptiTrack system as the basis for measurement.
Position sensitive detectors (PSDs) offer possibility to track single active marker's two (or three) degrees of freedom (DoF) position with a high accuracy, while having a fast response time with high update frequency and low latency, all using a very simple signal processing circuit. However they are not particularly suitable for 6-DoF object pose tracking system due to lack of orientation measurement, limited tracking range, and sensitivity to environmental variation. We propose a novel 6-DoF pose tracking system for a rigid object tracking requiring a single active marker. The proposed syst…
Asynchronous Event Stream Noise Filtering for High-frequency Structure Deformation Measurement
College of Aerospace Science and Engineering, National University of Defense Technology（航空航天科学与工程学院，国防科技大学）；Hunan Provincial Key Laboratory of Image Measurement and Vision Navigation（图像测量与视觉导航省级重点实验室）
We present a challenging and realistic novel dataset for evaluating 6-DOF object tracking algorithms. Existing datasets show serious limitations---notably, unrealistic synthetic data, or real data with large fiducial markers---preventing the community from obtaining an accurate picture of the state-of-the-art. Using a data acquisition pipeline based on a commercial motion capture system for acquiring accurate ground truth poses of real objects with respect to a Kinect V2 camera, we build a dataset which contains a total of 297 calibrated sequences. They are acquired in three different scenario…
Tensegrity robots, which are composed of compressive elements (rods) and flexible tensile elements (e.g., cables), have a variety of advantages, including flexibility, low weight, and resistance to mechanical impact. Nevertheless, the hybrid soft-rigid nature of these robots also complicates the ability to localize and track their state. This work aims to address what has been recognized as a grand challenge in this domain, i.e., the state estimation of tensegrity robots through a markerless, vision-based method, as well as novel, onboard sensors that can measure the length of the robot's cabl…
Osaka University（大阪大学）；University of Hyogo（兵库县立大学）
This paper presents a novel active marker for dynamic projection mapping (PM) that emits a temporal blinking pattern of infrared (IR) light representing its ID. We used a multi-material three dimensional (3D) printer to fabricate a projection object with optical fibers that can guide IR light from LEDs attached on the bottom of the object. The aperture of an optical fiber is typically very small; thus, it is unnoticeable to human observers under projection and can be placed on a strongly curved part of a projection surface. In addition, the working range of our system can be larger than previo…
It is possible to associate a highly constrained subset of relative 6 DoF poses between two 3D shapes, as long as the local surface orientation, the normal vector, is available at every surface point. Local shape features can be used to find putative point correspondences between the models due to their ability to handle noisy and incomplete data. However, this correspondence set is usually contaminated by outliers in practical scenarios, which has led to many past contributions based on robust detectors such as the Hough transform or RANSAC. The key insight of our work is that a single corres…
Institute for Systems and Robotics（系统与机器人研究所）；Instituto Superior Técnico（里斯本高等理工学院）；Universidade de Lisboa（里斯本大学）
Humanoid robots have complex bodies and kinematic chains with several Degrees-of-Freedom (DoF) which are difficult to model. Learning the parameters of a kinematic model can be achieved by observing the position of the robot links during prospective motions and minimising the prediction errors. This work proposes a movement efficient approach for estimating online the body-schema of a humanoid robot arm in the form of Denavit-Hartenberg (DH) parameters. A cost-sensitive active learning approach based on the A-Optimality criterion is used to select optimal joint configurations. The chosen joint…
National Institute of Advanced Industrial Science and Technology (AIST)（国立先进工业科学技术研究院）；University of Tsukuba（筑波大学）
Deep Convolutional Neural Networks (CNNs) have been successfully deployed on robots for 6-DoF object pose estimation through visual perception. However, obtaining labeled data on a scale required for the supervised training of CNNs is a difficult task - exacerbated if the object is novel and a 3D model is unavailable. To this end, this work presents an approach for rapidly generating real-world, pose-annotated RGB-D data for unknown objects. Our method not only circumvents the need for a prior 3D object model (textured or otherwise) but also bypasses complicated setups of fiducial markers, tur…
SurgRIPE challenge: Benchmark of Surgical Robot Instrument Pose Estimation
The Hamlyn Centre for Robotic Surgery, Imperial College London, United Kingdom；ImFusion GmbH, Munich, Germany；Technical University of Munich, Munich, Germany；Eindhoven University of Technology, Eindhoven, Netherlands；Department of Engineering Physics, Tsinghua University, Beijing, China；Department of Transdisciplinary Medicine, Seoul National University Hospital, South Korea；School of Computing, University of Leeds, United Kingdom；STORMLab, University of Leeds, United Kingdom
Markerless Multi-view 3D Human Pose Estimation: a survey
Instituto de Engenharia de Sistemas e Computadores, Tecnologia e Ciência (INESC TEC)（系统与计算机工程、技术与科学研究所（INESC TEC））；Faculdade de Engenharia da Universidade do Porto (FEUP)（波尔图大学工程学院（FEUP））；Faculdade de Ciências da Universidade do Porto (FCUP)（波尔图大学理学院（FCUP））
SurgPose: Generalisable Surgical Instrument Pose Estimation using Zero-Shot Learning and Stereo Vision
Department of Computing, Imperial College London（帝国理工学院计算系）；Hamlyn Centre for Robotic Surgery, Department of Surgery and Cancer, Imperial College London（帝国理工学院外科与癌症部门机器人手术中心）
With 3.78 billion social media users worldwide in 2021 (48% of the human population), almost 3 billion images are shared daily. At the same time, a consistent evolution of smartphone cameras has led to a photography explosion with 85% of all new pictures being captured using smartphones. However, lately, there has been an increased discussion of privacy concerns when a person being photographed is unaware of the picture being taken or has reservations about the same being shared. These privacy violations are amplified for people with disabilities, who may find it challenging to raise dissent e…
