CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Fusion of Vision and IMU to track the racket trajectory in real time
Zhang K(张鵾); Fang Zaojun; Liu Jianran; Wu Zhengxing; Tan Min
2017
Conference NameIEEE International Conference on Mechatronics and Automation (ICMA)
Pages1769–1774
Conference Date6-9 Aug. 2017
Conference PlaceTakamatsu, Japan
AbstractThis paper presents a novel approach on identification of human habits and behaviors when playing with the table tennis robot. The main idea of this approach lies in tracking the trajectory of the racket on player’s hand by fusion of vision and IMU(Inertial measurement unit) sensors’data. In order to uniform the data from the vision and IMU sensors, the non-linear algorithm is applied to accomplish the calibration. The visual viewable range could be broadened by the method to switch the vision systems between the monocular and binocular vision system. The fusion approach of the vision and IMU sensors is based on the EKF (Extended Kalman Filter) for obtaining accurate and robust racket pose. Taking advantage of the racket pose, the player’s habits and behaviors can be represented when he playing with the table tennis robot. Experiments and results showed that the proposed method is effective and real-time.
KeywordRacket Pose Vision And Imu Sensors Nonlinear Method Extended Kalman Filter
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21172
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation中国科学院自动化所
Recommended Citation
GB/T 7714
Zhang K,Fang Zaojun,Liu Jianran,et al. Fusion of Vision and IMU to track the racket trajectory in real time[C],2017:1769–1774.
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