Pose estimation of racket pad for ping pong robot

With two auxiliary lines drawn on the racket pad, the intersections of the auxiliary lines and the pad edge are selected as feature points. A simple pose measurement method is designed based on the feature points. A high efficient image-processing algorithm and a feature points extracting method are proposed according to the characteristics of the pad and the auxiliary lines. The racket pose in the camera frame is estimated via PnP positioning approach based on the intrinsic parameters of the camera, the image coordinates of the feature points and their Cartesian coordinates in the racket frame. The experimental results verify the effectiveness of the proposed methods.