Title :
Off-the-shelf vision for a robotic ball catcher
Author :
Frese, U. ; Bäuml, B. ; Haidacher, S. ; Schreiber, G. ; Schaefer, I. ; Hähnle, M. ; Hirzinger, G.
Author_Institution :
Inst. of Robotics & Mechatronics, German Aerosp. Center, Wessling, Germany
Abstract :
We present a system for catching a flying ball with a robot arm using off-the-shelf components (PC based system) for visual tracking. The ball is observed by a large baseline stereo camera, comparing each image to a slowly adapting reference image. We track and predict the target position using an extended Kalman filter, also taking into account the air drag. The calibration is achieved by simply performing a few throws and observing their trajectories, as well as moving the robot to some predefined positions
Keywords :
Kalman filters; image colour analysis; image segmentation; manipulator dynamics; motion control; nonlinear filters; robot vision; extended Kalman filter; flying ball; large baseline stereo camera; off-the-shelf vision; robot arm; robotic ball catcher; slowly adapting reference image; visual tracking; Calibration; Cameras; Hardware; Mechatronics; Object detection; Object recognition; Robot vision systems; Robustness; Shape; Target tracking;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.977211
