Abstract:Detection and tracking of an unknown-color spherical object in a partially-known environment using a robot with a single camera is the core problem addressed in this article. A novel color detection mechanism, which exploits the geometrical properties of the spherical object's projection onto the image plane, precedes the object's detection process. A Kalman filterbased tracker uses the object detection in its update step and tracks the spherical object. Real robot experimental evaluation of the proposed metho… Show more
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