In this paper we present a system for catching a flying ball with a robot arm using off-the-shelf components (PC based system) for visual tracking. The ball is ob- served by a large baseline stereo camera, comparing each image to a slowly adapting reference image. We track and predict the target position using an Extended Kalman Filter (EKF), also taking into account the air drag. The calibration is achieved by simply perform- ing a few throws and observing their trajectories, as well as moving the robot to some predefined positions. The robustness of the system was demonstrated at the Hannover Fair 2000.
Presented on 18.03.2020 by Sebastian Doliwa
Paper:
https://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.1.6840&rep=rep1&type=pdf