A robot ping-pong player: experiment in real-time intelligent control
A robot ping-pong player: experiment in real-time intelligent control
Recursive-batch estimation of motion and structure from monocular image sequences
CVGIP: Image Understanding
Trajectory Triangulation: 3D Reconstruction of Moving Points from a Monocular Image Sequence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Experiments in Hand-Eye Coordination Using Active Vision
The 4th International Symposium on Experimental Robotics IV
Estimating 3D Positions and Velocities of Projectiles from Monocular Views
IEEE Transactions on Pattern Analysis and Machine Intelligence
Online 3-D trajectory estimation of a flying object from a monocular image sequence
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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Online coordination of visual information with slow speed manipulator control is studied in the specific task of three dimensional robotic catching using position based visual servoing. The problem involves the design and application of a recursive algorithm to extract and predict the position of an object in a 3D environment from one feature correspondence from a monocular image sequence. Target translational model involves an object moving in a parabolic path using projectile physics. A state-space model is constructed incorporating kinematic states, and recursive techniques are used to estimate the state vector as a function of time. The measured data are the noisy image plane coordinates of object match taken from image in the sequence. Image plane noise levels are allowed and investigated. The target trajectory estimation is formulated as a tracking problem, which can use an arbitrary large number of images in a sequence and is done using Recursive Least Squares (RLS). Results are demonstrated by both simulations and experiments using a a real-time vision system and a six-degree-of-freedom robotic arm with speed capabilities of up to 1.0 m/s.