Shin, Wonkook Kim, Jun Sik 2024-12-02T04:00:20Z 2024-12-02T04:00:20Z 2024-11-22 2024-02-23 https://pubs.kist.re.kr/handle/201004/151265 Accurate robot localization is essential for a robot to move in a space. The location of an articulated robot can be defined by its body’s pose in the world coordinate system. For articulated robots, the movement of joints and obstacles often lead to occlusion challenges. The method of estimating keypoints using a voting algorithm based on a single camera sensor can robustly estimate the pose of a partially occluded object. However single camera system has limitations in detecting the entire space due to its limited measurement range. In this paper, we propose a method to estimate the pose of a humanoid robot’s body based on multiple camera systems to overcome these issues. Experimental results confirmed that the outputs of multiple camera sensors are effectively fused, and the pose can be robustly estimated even in situations where the robot is occluded by obstacles. Korean 한국로봇학회 다중 카메라 기반 휴머노이드 로봇 자세 추정 Humanoid robot pose estimation based on multiple cameras Conference 2 제19회 한국로봇종합학술대회 (KRoC 2024) 제19회 한국로봇종합학술대회 (KRoC 2024) KO 휘닉스평창 2024-02-21 제19회 한국로봇종합학술대회 (KRoC 2024) 발표논문집