DREAM

This is the official implementation of "Camera-to-robot pose estimation from a single image" (ICRA 2020). The DREAM system uses a robot-specific deep neural network to detect keypoints (typically joint locations) in the RGB image of a robot manipulator. Using these keypoint locations along with the robot forward kinematics, the camera pose with respect to the robot is estimated using a perspective-n-point (PnP) algorithm. For more details, please see our paper and video.