Volume 14, Issue 3 (Journal of Control, V.14, N.3 Fall 2020)                   JoC 2020, 14(3): 75-87 | Back to browse issues page

XML Persian Abstract Print

Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

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
1- University of Tabriz
Abstract:   (6180 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.
Full-Text [PDF 902 kb]   (1818 Downloads)    
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

1. S. Kim, A. Shukla, and A. Billard, "Catching objects in flight," IEEE Trans. Robot., vol. 30, no. 5, pp. 1049-1065, Oct. 2014. [DOI:10.1109/TRO.2014.2316022]
2. Z. Zhang, D. Xu, and M. Tan, "Visual measurement and prediction of ball trajectory for table tennis robot," IEEE Trans. Instrum. Meas., vol. 59, no. 12, pp. 3195-3205, Dec. 2010. [DOI:10.1109/TIM.2010.2047128]
3. C. Lin, Y. Chiu, The DSP based catcher robot system with stereo vision, in: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xi'an, PRC, 2008, pp. 897-903.
4. Q. He et al., "Simple 3-D point reconstruction methods with accuracy prediction for multiocular system," IEEE/ASME Trans. Mechatronics, vol. 18, no. 1, pp. 366-375, Feb. 2013. [DOI:10.1109/TMECH.2011.2178423]
5. V. Lippiello, F. Ruggiero, and B. Siciliano, "3D monocular robotic ball catching," Robot. Auto. Syst., vol. 61, no. 12, pp. 1615-1625, 2013. [DOI:10.1016/j.robot.2013.06.008]
6. S. T. Kao, Y. Wang, M. T. Ho, "Ball catching with omni-directional wheeled mobile robot and active stereo vision," in 2017 IEEE 26th International Symposium on Industrial Electronics (ISIE), 2017. [DOI:10.1109/ISIE.2017.8001395]
7. P.-Y. Zhang and T.-S. Lü, "Real-Time Motion Planning for a Volleyball Robot Task Based on a Multi-Agent Technique," Journal of Intelligent and Robotic Systems, vol. 49, no. 4, pp. 355-366, Mar. 2007. [DOI:10.1007/s10846-007-9140-2]
8. E. Ribnick, S. Atev and N. P. Papanikolopoulos, "Estimating 3D Positions and Velocities of Projectiles from Monocular Views," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 31, no. 5, pp. 938 - 944, 2009. [DOI:10.1109/TPAMI.2008.247]
9. R. Herrejon, S. Kagami and K. Hashimoto, "Composite visual servoing for catching a 3-D flying object using RLS trajectory estimation from a monocular image sequence," in Proc. IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA, 2010, pp. 526 - 531. [DOI:10.1109/CIRA.2009.5423229]
10. J.-D. Tian, J. Sun, and Y.-D. Tang, "Short-Baseline Binocular Vision System for a Humanoid Ping-Pong Robot," Journal of Intelligent & Robotic Systems, vol. 64, no. 3-4, pp. 543-560, May 2011. [DOI:10.1007/s10846-011-9554-8]
11. S. Kim and A. Billard, "Estimating the non-linear dynamics of free-flying objects," Robotics and Autonomous Systems, vol. 60, no. 9, pp. 1108-1122, Sep. 2012. [DOI:10.1016/j.robot.2012.05.022]
12. Q. Xie, Y. Liu, R. Xiong and J. Chu, "Real-time Accurate Ball Trajectory Estimation with Asynchronous Stereo Camera System for Humanoid Ping-Pong Robot," in Proc. IEEE International Conference on Robotics & Automation (ICRA), 2014, pp. 6212-6217. [DOI:10.1109/ICRA.2014.6907775]
13. M. Li, A. Ravankar, A. A. Ravankar, Y. Kobayashi, and T. Emaru, "Estimation of position and trajectory of a flying ball in 3-D space," in 2015 IEEE/SICE International Symposium on System Integration (SII), 2015. [DOI:10.1109/SII.2015.7405020]
14. P. Cigliano, V. Lippiello, F. Ruggiero and B. Siciliano, "Robotic Ball Catching with an Eye-in-Hand Single-Camera System," IEEE Transactions on Control Systems Technology, vol. 23, pp. 1657 - 1671, 2015. [DOI:10.1109/TCST.2014.2380175]
15. V. Lepetit, F. Moreno-Noguer, and P. Fua, "EPnP: An Accurate O(n) Solution to the PnP Problem," International Journal of Computer Vision, vol. 81, no. 2, pp. 155-166, Jul. 2008. [DOI:10.1007/s11263-008-0152-6]
16. Z. Zhang, "A flexible new technique for camera calibration," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 22, no. 11, pp. 1330-1334, 2000. [DOI:10.1109/34.888718]
17. U. Frese, B. Bauml, S. Haidacher, G. Schreiber, I. Schaefer, M. Hahnle, and G. Hirzinger, "Off-the-shelf vision for a robotic ball catcher," in IEEE/RSJ International Conference on Intelligent Robots and Systems, (Maui), 2001.

Add your comments about this article : Your username or Email:

Send email to the article author

Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

© 2023 CC BY-NC 4.0 | Journal of Control

Designed & Developed by : Yektaweb