Institute of Electrical and Electronics Engineers (IEEE)

Transport by robotic throwing and catching: Accurate stereo tracking of the spherical object

Konstantin Mironov ¹

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The Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, Hong Kong |

Publication type: Proceedings Article

Publication date: 2017-05-01

Institute of Electrical and Electronics Engineers (IEEE)

DOI: 10.1109/ICIEAM.2017.8076490

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Abstract

Robotic catching give the specific requirements to the observation system, which is used for tracking the thrown object. Here the development of the image processing algorithm for real-time positioning of the thrown tennis ball is described. Influence of the camera positioning and chosen image processing algorithms (background subtraction, Hough and RANSAC circle detection) on positioning accuracy is discussed. Accuracy of positioning is analyzed for two modes of the vision system: learning mode and working mode. In the learning mode the there is no hard time constraint and entire trajectory must be accurately reconstructed. In working mode the observation must be real time and only first three quarters of the trajectory is observed. The algorithms of accurate processing for both modes is developed. The efficiency of the observer is proved by the experiments in robotic catching.

Found

1 citation

Panov Aleksandr

PhD in Physics and Mathematics, associate professor

123 publications, 828 citations, 26 reviews

h-index: 14

Moscow Institute of Physics and Technology

Research interests

Cognitive modeling

Planning

Reinforcement learning

1 citation

VOKHMINTCEV ALEKSANDR

38 publications, 90 citations

h-index: 5

Chelyabinsk State University

Yugra State University

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Journals

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IFAC-PapersOnLine	IFAC-PapersOnLine, 1, 20% IFAC-PapersOnLine 1 publication, 20%
Visual Computer	Visual Computer, 1, 20% Visual Computer 1 publication, 20%
IEEE Transactions on Robotics	IEEE Transactions on Robotics, 1, 20% IEEE Transactions on Robotics 1 publication, 20%
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Institute of Electrical and Electronics Engineers (IEEE)	Institute of Electrical and Electronics Engineers (IEEE), 3, 60% Institute of Electrical and Electronics Engineers (IEEE) 3 publications, 60%
Elsevier	Elsevier, 1, 20% Elsevier 1 publication, 20%
Springer Nature	Springer Nature, 1, 20% Springer Nature 1 publication, 20%
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Mironov K. Transport by robotic throwing and catching: Accurate stereo tracking of the spherical object // 2017 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2017 - Proceedings. 2017.

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TY - CPAPER

DO - 10.1109/ICIEAM.2017.8076490

UR - https://doi.org/10.1109/ICIEAM.2017.8076490

TI - Transport by robotic throwing and catching: Accurate stereo tracking of the spherical object

T2 - 2017 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2017 - Proceedings

AU - Mironov, Konstantin

PY - 2017

DA - 2017/05/01

PB - Institute of Electrical and Electronics Engineers (IEEE)

ER -

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@inproceedings{2017_Mironov,

author = {Konstantin Mironov},

title = {Transport by robotic throwing and catching: Accurate stereo tracking of the spherical object},

year = {2017},

month = {may},

publisher = {Institute of Electrical and Electronics Engineers (IEEE)}

}

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Profiles

Konstantin V Mironov