Short-Baseline Binocular Vision System for a Humanoid Ping-Pong Robot
文献类型：期刊论文
| 作者 | Tian JD(田建东) ; Sun J(孙静); Tang YD(唐延东)
|
| 刊名 | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
 |
| 出版日期 | 2011 |
| 卷号 | 64期号:3-4页码:543-560 |
| 关键词 | Humanoid robot Short-baseline vision Ping-pong ball detection Trajectory prediction |
| ISSN号 | 0921-0296 |
| 产权排序 | 1 |
| 中文摘要 | We develop a short-baseline vision system for a humanoid ping-pong robot. The vision system can provide four-dimensional space-time information and can predict the future trajectory of a ball. Short baseline poses special challenges for achieving sufficient 3-D reconstruction and prediction accuracy within limited processing time. We propose two algorithms including direct calibration of projection matrix and Gaussian-fitting based ball-center location to guarantee the 3-D reconstruction accuracy; we propose algorithm of five-point based ball representation and utilize the constraint of ball detecting region to guarantee the processing speed; we also propose algorithm of smoothing-based trajectory prediction to improve the prediction accuracy. Experimental results show the accuracy and the speed of our vision system can meet the requirements of a humanoid ping-pong robot. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Artificial Intelligence ; Robotics |
| 研究领域[WOS] | Computer Science ; Robotics |
| 关键词[WOS] | TABLE-TENNIS SIMULATION |
| 收录类别 | SCI ; EI |
| 资助信息 | This work is supported by Natural Science Foundation of China (Grant Number: 60805046 and 60835004). |
| 语种 | 英语 |
| WOS记录号 | WOS:000297365600013 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7406]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Tian JD,Sun J,Tang YD. Short-Baseline Binocular Vision System for a Humanoid Ping-Pong Robot[J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,2011,64(3-4):543-560. |
| APA | Tian JD,Sun J,&Tang YD.(2011).Short-Baseline Binocular Vision System for a Humanoid Ping-Pong Robot.JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,64(3-4),543-560. |
| MLA | Tian JD,et al."Short-Baseline Binocular Vision System for a Humanoid Ping-Pong Robot".JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 64.3-4(2011):543-560. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。