Robot Structure Prior Guided Temporal Attention for Camera-to-Robot Pose Estimation from Image Sequence

TL;DR

This paper introduces a novel method for online camera-to-robot pose estimation using temporal attention guided by robot structure, improving robot perception from image sequences.

Contribution

It proposes a structure prior-guided temporal attention mechanism specifically designed for accurate pose estimation from sequential images.

Findings

Enhanced pose estimation accuracy demonstrated in experiments.

Effective utilization of robot structure prior improves temporal attention.

Robust performance across different robot configurations.

Abstract

In this work, we tackle the problem of online camera-to-robot pose estimation from single-view successive frames of an image sequence, a crucial task for robots to interact with the world.