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题名:
Short-Baseline Binocular Vision System for a Humanoid Ping-Pong Robot
作者: Tian JD(田建东); Sun J(孙静); Tang YD(唐延东)
作者部门: 机器人学研究室
关键词: Humanoid robot ; Short-baseline vision ; Ping-pong ball detection ; Trajectory prediction
刊名: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
ISSN号: 0921-0296
出版日期: 2011
卷号: 64, 期号:3-4, 页码:543-560
收录类别: SCI ; EI
产权排序: 1
摘要: 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.
语种: 英语
EI收录号: 20120214670999
WOS记录号: WOS:000297365600013
WOS标题词: Science & Technology ; Technology
类目[WOS]: Computer Science, Artificial Intelligence ; Robotics
关键词[WOS]: TABLE-TENNIS SIMULATION
研究领域[WOS]: Computer Science ; Robotics
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/7406
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
Tian JD,Sun J,Tang YD. Short-Baseline Binocular Vision System for a Humanoid Ping-Pong Robot[J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,2011,64(3-4):543-560.
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