Seeing Through Uncertainty: Robot Pose Estimation Based on Imperfect Prior Kinematic Knowledge

摘要

We present PK-ROKED, a learning-based pipeline for probabilistic robot pose estimation relative to a camera, addressing inaccuracies in forward kinematics, particularly in systems with elastic and lightweight modules. Our approach integrates a probabilistic 2D keypoint detection mechanism that leverages prior knowledge derived from the robot's imprecise kinematics. We further improve the detection accuracy and geometric understanding by incorporating segmentation of the robot arm. The method computes reliable uncertainty estimates, enabling a robust 2D-6D fusion for precise robot arm pose estimation from a single detected keypoint. PK-ROKED requires only synthetic training data, effectively exploits imperfect kinematics as valuable prior knowledge, and introduces a novel fusion framework for enhanced robot pose estimation. We validate our method on the Panda-Orb dataset, demonstrating competitive performance against state-of-the-art approaches. Additionally, we evaluate on two other robotic systems in real-world scenarios and show its practicality by using the predictions to initialize a tracking algorithm. Code and pre-trained models are available.