Vision-Based Online Key Point Estimation of Deformable Robots

We present a markerless vision-based system for estimating key points in deformable robots. Using a convolutional neural network (CNN), the system accurately reconstructs soft robotic shapes in real-time from multiple perspectives, outperforming existing methods. This work provides a robust solution for soft robots in dynamic and occlusive environments. The work is published in Advanced Intelligent Systems by Wiley.

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The precise control of deformable robots requires accurate shape estimation, which current proprioceptive and exteroceptive methods fail to provide reliably. This paper introduces a CNN-based system for markerless key point estimation, using two-camera setups to infer shape representations in real-time. The method surpasses current markerless techniques, showing a maximum accuracy improvement of 4.5%. Evaluations on soft robotic arms and fish demonstrate its versatility.

external page Link to the open access paper on Advanced Intelligent Systems