Camera Attitude Estimation by Neural Network Using Classification Network Method Instead of Numerical Regression

Abstract

In this paper, we propose a method for estimating the camera pose using a classification neural network based on the idea of OCR. Some terrestrial robots can exhibit high maneuverability by freely tilting their upper bodies. When estimating the posture of such robots, posture estimation using IMU and gyroscopic sensors as in the case of drones is affected by the noise generated by the unevenness of the ground, making posture estimation difficult. Pose estimation using deep learning from camera images is one solution to these problems, and various studies have been conducted in the past. However, the accuracy of pose estimation using only inference by deep learning with camera images is extremely poor and is not practical. In order to solve this problem, this paper proposes a classification neural network based on the idea of OCR, which can ensure high inference accuracy in the pose estimation task.