3D Ball tracking in a Humanoid Robot using Depth Map
- 3D Ball tracking in a Humanoid Robot using Depth Map
- 김강건; 박가람; 유범재
- 3D Ball tracking; Humanoid Robot; Extended Kalman Filter; Depth Map
- Issue Date
- The 7th International Conference on Ubiquitous Robots and Ambient Intelligence
- , 249-251
- In this paper, a system to catch a flying ball by
using a humanoid robot is proposed. Various researches has
been conducted on the 3D ball tracking, however, there are
few studies on the humanoid robot catches the ball using
images acquired by a sensor mounted on the head of the
humanoid robot. This is because there are some limitations
on the detection of the ball due to the performance of a
mounted camera on the head. The goal of this paper is to
present an effective way to overcome these restrictions in the
humanoid robot. We are able to get 3D data sets as depth
maps using time-of-flight camera. In order to detect the ball,
we use difference images. Extended Kalman Filter (EKF) is
used to track the flying ball and predict the target position.
The air drag is also considered. Measured target 3D position
and velocity information are sent to the humanoid robot and
this is able to catch the flying ball.
- Appears in Collections:
- KIST Publication > Conference Paper
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