# Visual Servoing on Wheels: Robust Robot Orientation Estimation in Remote Viewpoint Control

arXiv: https://arxiv.org/abs/2306.14848 · HTML: https://mlsanity.com/paper/2306.14848/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Jun 2023.

## Built on by (most cited first, 1 of 1)

- [Select2Plan: Training-Free ICL-Based Planning through VQA and Memory Retrieval](https://mlsanity.com/paper/2411.04006/) (2024)

## Abstract (arXiv)

This work proposes a fast deployment pipeline for visually-servoed robots which does not assume anything about either the robot - e.g. sizes, colour or the presence of markers - or the deployment environment. In this, accurate estimation of robot orientation is crucial for successful navigation in complex environments; manual labelling of angular values is, though, time-consuming and possibly hard to perform. For this reason, we propose a weakly supervised pipeline that can produce a vast amount of data in a small amount of time. We evaluate our approach on a dataset of remote camera images captured in various indoor environments demonstrating high tracking performances when integrated into a fully-autonomous pipeline with a simple controller. With this, we then analyse the data requirement of our approach, showing how it is possible to deploy a new robot in a new environment in less than 30.00 min.