Ball Trajectory Estimation and Robot Control to Reach the Ball Using Single Camera

Abstract

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.

Performance Evaluation of Badminton Trajectory Error Based on Wireless Sensor Network

“…Usually WSN nodes are arranged near the detection target by aircraft or manually. ese nodes form a wireless network through self-organization, collect target information in the coverage area through cooperation, and then transmit the collected data to the base station through multi-hop relay [8,9]. Sensor nodes monitor the detection objects, and end users can effectively configure and manage the sensor network through node management [10].…”