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A vision system with multiple cameras designed for humanoid robots to play table tennis

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5 Author(s)
Ping Yang ; State Key Laboratory of Intelligent Control and Management of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China ; De Xu ; Zhengtao Zhang ; Guodong Chen
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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.

Published in:

Automation Science and Engineering (CASE), 2011 IEEE Conference on

Date of Conference:

24-27 Aug. 2011