Real-time visual pose estimation: from BOP objects to custom drone — A journey

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2025-05-17 DOI:10.1016/j.mechatronics.2025.103339

Thomas Rey , Julien Moras , Alexandre Eudes , Antoine Manzanera

引用次数: 0

Abstract

Pose estimation plays a crucial role in robotics for prehension tasks or in augmented-reality application, yet its application on real-world far-range estimation has not been thoroughly studied. This study aims to evaluate pose estimators on a custom drone at distances from 0.5 m to 10 m, which is beyond the scope of existing datasets, that only contain objects close to less than 2 m. We created synthetic and real databases specific to our drone and compared various RGB pose estimators, evaluating their performance across different distances. PViT-6D, being one of the SoTA methods on the classic [0,2] m interval, also outperforms others estimators at greater distances, and proves robust with respect to detection inaccuracy. The results demonstrate the potential of PViT-6D to be used on a real time application embedded in the drone platform. This work aims to evaluate the potential of pose estimators for mutual perception and communication within a drone swarm.

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实时视觉姿态估计：从防喷器对象自定义无人机-一个旅程

姿态估计在机器人抓取任务或增强现实应用中起着至关重要的作用，但其在现实世界远距离估计中的应用尚未得到深入研究。本研究旨在评估距离为0.5米至10米的定制无人机上的姿态估计器，这超出了现有数据集的范围，这些数据集仅包含距离小于2米的物体。我们创建了针对无人机的合成和真实数据库，并比较了各种RGB姿态估计器，评估了它们在不同距离上的性能。pvitd - 6d作为经典[0,2]m区间上的SoTA方法之一，在更大的距离上也优于其他估计方法，并且在检测不准确性方面具有鲁棒性。结果表明，pvit6d可用于嵌入无人机平台的实时应用程序。这项工作旨在评估姿态估计器在无人机群内相互感知和通信的潜力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.