HiroPoseEstimation: A Dataset of Pose Estimation for Kid-Size Humanoid Robot

Abstract

Pose estimation is a field of computer vision research that involves detecting, associating, and tracking data points on body parts. It is used for health monitoring, sign language understanding, human gesture control, elderly activities, sports, and humanoid robot pose estimation. The anatomy of a humanoid robot is similar to a human, which forms the basis for utilizing humanoid robot pose estimation. The Humanoid League is a major domain of the RoboCup competition, featuring soccer matches between humanoid robots. Pose estimation is used to measure the robot’s performance. Nevertheless, there have not been many research done on this subject. A new dataset model needs to be developed to solve the proposed problem. This work introduces HiroPoseEstimation, a kid-size humanoid robot dataset with several types of robots used in various poses based on movements in a soccer game. It is evaluated with both bottomup and top-down approaches using keypoint mask R-CNN and single-stage encoder-decoder model. Both methods demonstrate good performance on the proposed dataset.