Object Localization Based on a Single RGB Camera for a 4-DOF Robotic Arm

This study presents a method for constructing metric depth maps based on relative depth maps for a 4-DOF manipulator with a single RGB camera, which is attached to an end effector. To create a relative depth map of a scene, we utilize the Depth Anything V2 model along with a system of twelve ArUco markers positioned at varying distances from one another. Unlike traditional methods for determining distances to objects using ArUco markers, the proposed approach does not require a continuous presence of markers within a camera's field of view; it only necessitates measuring a distance to a few markers in an initial frame. The proposed method enables the robot to perform object localization using a relative depth map concurrently with an object search process.