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Publication type: Article in Proceedings
Author: U. Frese, B. Bäuml, S. Haidacher, G. Schreiber, I. Schaefer, M. Hähnle, G. Hirzinger
Title: Off-the-Shelf Vision for a Robotic Ball Catcher
Book / Collection title: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
Page(s): 1623 – 1629
Year published: 2001
Abstract: In this paper we present a system for catching a flying ball with a robot arm using o-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 (EKF), 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. The robustness of the system was demonstrated at the Hannover Fair 2000.
Internet: http://www.informatik.uni-bremen.de/agebv/en/RoboticBallcatcher
PDF Version: http://www.informatik.uni-bremen.de/agebv/downloads/published/freseiros.pdf
Keywords: sport robotic ball catching vision tracking motion planning
Status: Reviewed
Last updated: 28. 10. 2008

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