Title :
A vision system with multiple cameras designed for humanoid robots to play table tennis
Author :
Yang, Ping ; De Xu ; Zhang, Zhengtao ; Chen, Guodong ; Tan, Min
Author_Institution :
State Key Lab. of Intell. Control & Manage. of Complex Syst., Chinese Acad. of Sci., Beijing, China
Abstract :
Two humanoid robots are used to play table tennis with each other. For each humanoid robot, three cameras and a computer are equipped to form a stereovision system and a monocular vision system. The stereovision system consisting of two smart cameras and a computer measures the 3-dimensional position of the table tennis ball. It adopts parallel processing mode in order to realize hundred frames level measurement per second. A high-speed digital camera and the computer compose the monocular vision system, which measures the pose of the robot relative to the table via a color mark attached on the robot. The two smart cameras in each stereovision system are synchronized via I/O signals. The vision systems for the two robots are synchronized by time verification. Experimental results verify the effectiveness of the designed vision system and the proposed methods.
Keywords :
humanoid robots; image sensors; parallel processing; robot vision; stereo image processing; 3D position; I/O signals; computer measurement; humanoid robots; monocular vision system; multiple cameras; parallel processing; smart cameras; stereovision system; table tennis; table tennis ball; vision system; Cameras; Computers; Robot kinematics; Robot vision systems; Smart cameras; Trajectory; PnP; Stereovision; high-speed vision; humanoid robot; monocular vision; smart cameras; table tennis; time synchronization; visual measurement;
Conference_Titel :
Automation Science and Engineering (CASE), 2011 IEEE Conference on
Conference_Location :
Trieste
Print_ISBN :
978-1-4577-1730-7
Electronic_ISBN :
2161-8070
DOI :
10.1109/CASE.2011.6042396
