位姿估计

物体和人体位姿估计：6DoF 物体位姿、人体姿态估计（OpenPose、MediaPipe）。

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