Fusion of Vision and IMU to track the racket trajectory in real time
文献类型：会议论文
| 作者 | Zhang K(张鵾) ; Fang Zaojun; Liu Jianran; Wu Zhengxing; Tan Min
|
| 出版日期 | 2017 |
| 会议日期 | 6-9 Aug. 2017 |
| 会议地点 | Takamatsu, Japan |
| 关键词 | Racket Pose Vision And Imu Sensors Nonlinear Method Extended Kalman Filter |
| 页码 | 1769–1774 |
| 英文摘要 | This paper presents a novel approach on identification of human habits and behaviors when playing with the table tennis robot. The main idea of this approach lies in tracking the trajectory of the racket on player’s hand by fusion of vision and IMU(Inertial measurement unit) sensors’data. In order to uniform the data from the vision and IMU sensors, the non-linear algorithm is applied to accomplish the calibration. The visual viewable range could be broadened by the method to switch the vision systems between the monocular and binocular vision system. The fusion approach of the vision and IMU sensors is based on the EKF (Extended Kalman Filter) for obtaining accurate and robust racket pose. Taking advantage of the racket pose, the player’s habits and behaviors can be represented when he playing with the table tennis robot. Experiments and results showed that the proposed method is effective and real-time. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/21172]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | 中国科学院自动化所 |
| 推荐引用方式 GB/T 7714 | Zhang K,Fang Zaojun,Liu Jianran,et al. Fusion of Vision and IMU to track the racket trajectory in real time[C]. 见:. Takamatsu, Japan. 6-9 Aug. 2017. |
入库方式： OAI收割
来源：自动化研究所
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