Short-Baseline Binocular Vision System for a Humanoid Ping-Pong Robot |
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Authors: | Jian-Dong Tian Jing Sun Yan-Dong Tang |
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Affiliation: | 1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110016, Shenyang, People??s Republic of China 2. Graduate School of the Chinese Academy of Sciences, 100039, Beijing, People??s Republic of China
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Abstract: | We develop a short-baseline vision system for a humanoid ping-pong robot. The vision system can provide four-dimensional space-time information and can predict the future trajectory of a ball. Short baseline poses special challenges for achieving sufficient 3-D reconstruction and prediction accuracy within limited processing time. We propose two algorithms including direct calibration of projection matrix and Gaussian-fitting based ball-center location to guarantee the 3-D reconstruction accuracy; we propose algorithm of five-point based ball representation and utilize the constraint of ball detecting region to guarantee the processing speed; we also propose algorithm of smoothing-based trajectory prediction to improve the prediction accuracy. Experimental results show the accuracy and the speed of our vision system can meet the requirements of a humanoid ping-pong robot. |
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