Pose Estimation

Estimating object and human pose: 6DoF object pose estimation, human pose estimation (OpenPose, MediaPipe), and pose-based robot manipulation.

Learning Objectives

1. What Is Pose Estimation?

2. 6DoF Object Pose Estimation

2.1 Classical Approaches (PnP)

2.2 Deep Learning Methods (PoseCNN, FoundationPose)

2.3 BOP Benchmark

3. Human Pose Estimation

3.1 OpenPose

3.2 MediaPipe / MoveNet

3.3 3D Human Pose

4. Hand Pose Estimation

5. Pose in Robot Manipulation

5.1 Eye-in-Hand vs. Eye-to-Hand

5.2 Grasp Pose Generation

6. Evaluation Metrics

Exercises

References