Volume 14, Issue 3 (Journal of Control, V.14, N.3 Fall 2020)
JoC 2020, 14(3): 75-87 |
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Nobahar B, Shoaran M, Karimian Khosroshahi G. Ball Trajectory Estimation and Robot Control to Reach the Ball Using Single Camera. JoC 2020; 14 (3) :75-87
URL: http://joc.kntu.ac.ir/article-1-630-en.html
URL: http://joc.kntu.ac.ir/article-1-630-en.html
1- University of Tabriz
Abstract: (6517 Views)
In robotics research, catching a projectile object with a robotic system is one of the challenging problems. The outcome of these researches can be used in a wide range of applications such as video surveillance systems, analysis of sports videos, monitoring programs for human activities, and human-machine interactions. In this paper, we propose a new vision-based algorithm to estimate the trajectory of a projectile, which estimates the time and the position of the projectile's collision with the robot's working space in real-time. We use sub-pixel calculations and present an improved algorithm for estimating the center of the ball. We evaluate the performance of different trajectory estimation algorithms and also provide a real-time hardware implementation of our method on a designed robot. Moreover, the combination of single-camera and gyroscope information is studied in this paper. The results show that the proposed algorithm is capable of correctly estimating the ball's trajectory and has a very good performance against the noise.
Type of Article: Research paper |
Subject:
Special
Received: 2018/11/5 | Accepted: 2019/04/16 | ePublished ahead of print: 2019/08/15 | Published: 2020/12/12
Received: 2018/11/5 | Accepted: 2019/04/16 | ePublished ahead of print: 2019/08/15 | Published: 2020/12/12
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