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
会议名称IEEE International Conference on Mechatronics and Automation (ICMA)
页码1769–1774
会议日期6-9 Aug. 2017
会议地点Takamatsu, Japan
摘要This 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.
关键词Racket Pose Vision And Imu Sensors Nonlinear Method Extended Kalman Filter
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/21172
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位中国科学院自动化所
推荐引用方式
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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