We propose a self-supervised approach for visual robot detection and heading estimation by learning to estimate the states (OFF or ON) of four independent robot-mounted LEDs. Experimental results show a median image-space position error of 14 px and relative heading MAE of 17 degrees, versus a supervised upperbound scoring 10 px and 8 degrees, respectively.

翻译：我们提出一种自监督方法，通过估计机器人搭载的四个独立LED状态（关闭或开启）来实现视觉机器人检测与航向估计。实验结果表明，该方法在图像空间位置误差中位数为14像素，相对航向平均绝对误差为17度；而监督学习上限分别达到10像素和8度。