Multi-View Camera Pose Estimation for Robotic Arm Manipulation

摘要

This article proposes a novel approach aimed at estimating the pose of a camera, affixed to a robotic manipulator, against a target object. Our approach provides a way to exploit the redundancy of the robotic arm kinematics by directly considering manipulator poses in the model formulation for camera pose estimation. We adopt a single camera multi-shot technique that minimizes the reprojection error over all the rigid poses. The results of the proposed method are compared to four other studies employing either monocular or stereo setup. The experimental results on synthetic and real data show that the proposed monocular approach achieves better and in some cases comparable results to the stereo approach. Moreover, the proposed approach is significantly more robust and precise compared to other methods.