MonoEgo: Monocular Metric Egocentric Demonstration Capture with Passive Wrist Constellations and Sparse Workstation Anchors

Abstract:Image-aligned metric demonstrations often require dedicated tracking hardware and synchronization across devices. We present MonoEgo, a capture system that replaces active wrist instrumentation with offline monocular reconstruction. One 90-FPS global-shutter camera observes calibrated passive wrist constellations, sparse workstation anchors, and the scene on a shared image clock. MonoTag SLAM combines marker corners with ORB geometry and uses visual evidence to reject ambiguous planar-marker poses. Its metric Atlas supports interval scale re-anchoring, verified map merging, and retrospective localization of earlier frames supported by the final map. Camera and wrist-constellation outputs retain validity and map provenance, and unsupported motion is left missing. Experiments show metric tracking beyond continuous anchor visibility, reconnection of supported map components, and recovery of some missing camera poses. Comparisons against a multisensor camera reference and separate stationary-constellation tests characterize trajectory agreement and precision while revealing incomplete coverage and residual geometric uncertainty. The results indicate that passive fixtures and offline reconstruction can reduce capture-side requirements. Dynamic accuracy, deployment, and downstream policy benefits require further study.

Robotics (cs.RO)

arXiv:2609.34512 [cs.RO]

(or arXiv:2609.34512v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.34512 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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