mlsanityData to 7 Oct 2026

Real-time Pose Estimation from Images for Multiple Humanoid Robots

arXiv 2107.02675 ↗First posted 6 Jul 2021cs.RO cs.CVcited by 3

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Abstract (arXiv)

Pose estimation commonly refers to computer vision methods that recognize people's body postures in images or videos. With recent advancements in deep learning, we now have compelling models to tackle the problem in real-time. Since these models are usually designed for human images, one needs to adapt existing models to work on other creatures, including robots. This paper examines different state-of-the-art pose estimation models and proposes a lightweight model that can work in real-time on humanoid robots in the RoboCup Humanoid League environment. Additionally, we present a novel dataset called the HumanoidRobotPose dataset. The results of this work have the potential to enable many advanced behaviors for soccer-playing robots.

Key facts. Cited by 3 papers in the map (data through 7 Oct 2026). Builds on 21 of its 25 references that are in the map. First posted on arXiv 6 Jul 2021.

Builds on

21 of 25 references.

References · 21

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2014Microsoft COCO: Common Objects in Contextcited by 17,498
  3. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,617
  4. 2016Feature Pyramid Networks for Object Detectioncited by 5,021
  5. 2019Deep High-Resolution Representation Learning for Visual Recognitioncited by 1,417
  6. 2018OpenPose: Realtime Multi-Person 2D Pose Estimation using Part Affinity Fieldscited by 1,161
  7. 2016Stacked Hourglass Networks for Human Pose Estimationcited by 913
  8. 2018Simple Baselines for Human Pose Estimation and Trackingcited by 502
  9. 2017Cascaded Pyramid Network for Multi-Person Pose Estimationcited by 341
  10. 2019HigherHRNet: Scale-Aware Representation Learning for Bottom-Up Human Pose Estimationcited by 247
  11. 2016Associative Embedding: End-to-End Learning for Joint Detection and Groupingcited by 211
  12. 2018PersonLab: Person Pose Estimation and Instance Segmentation with a Bottom-Up, Part-Based, Geometric Embedding Modelcited by 133
9 more
  1. 2017Towards Accurate Multi-person Pose Estimation in the Wildcited by 131
  2. 2019PifPaf: Composite Fields for Human Pose Estimationcited by 120
  3. 2017Benchmarking and Error Diagnosis in Multi-Instance Pose Estimationcited by 48
  4. 2019Simple Pose: Rethinking and Improving a Bottom-up Approach for Multi-Person Pose Estimationcited by 27
  5. 2018Online Visual Robot Tracking and Identification using Deep LSTM Networkscited by 2
  6. 2018Real-Time Visual Tracking and Identification for a Team of Homogeneous Humanoid Robotscited by 1
  7. 2018NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robotcited by 1
  8. 2019NimbRo Robots Winning RoboCup 2018 Humanoid AdultSize Soccer Competitionscited by 1
  9. 2019RoboCup 2019 AdultSize Winner NimbRo: Deep Learning Perception, In-Walk Kick, Push Recovery, and Team Play Capabilitiescited by 1

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 2; 2024: 0; 2025: 0; 2026: 1.

3 papers.

  1. 2023External Camera-based Mobile Robot Pose Estimation for Collaborative Perception with Smart Edge Sensorscited by 4
  2. 2026Towards Motion Turing Test: Evaluating Human-Likeness in Humanoid Robotscited by 3
  3. 2023Augmenting Vision-Based Human Pose Estimation with Rotation Matrixcited by 0