Vision Based Tracker for Dart-Catching Robot
Linderoth, Magnus; Robertsson, Anders; Åström, Karl; Johansson, Rolf (2009). Vision Based Tracker for Dart-Catching Robot. IFAC Proceedings Volumes (IFAC-PapersOnline), 42, (16), 717 - 722. 9th IFAC International Symposium on Robot Control. Gifu, Japan
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Published
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English
Authors:
Linderoth, Magnus
;
Robertsson, Anders
;
Åström, Karl
;
Johansson, Rolf
Department:
Department of Automatic Control
Mathematics (Faculty of Engineering)
LCCC
Project:
ROSETTA
RobotLab LTH
Abstract:
This paper describes how high-speed computer vision can be used in a motion control application. The specific application investigated is a dart catching robot. Computer vision is used to detect a flying dart and a filtering algorithm predicts its future trajectory. This will give data to a robot controller allowing it to catch the dart. The performance of the implemented components indicates that the dart catching application can be made to work well. Conclusions are also made about what features of the system are critical for performance.
Keywords:
Dart catching ;
computer vision ;
camera calibration ;
state estimation ;
Mathematics ;
Computer Vision and Robotics (Autonomous Systems) ;
Control Engineering
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