Off-the-shelf vision for a robotic ball catcher
Abstract
We present a system for catching a flying ball with a robot arm using off-the-shelf components (PC based system) for visual tracking. The ball is observed by a large baseline stereo camera, comparing each image to a slowly adapting reference image. We track and predict the target position using an extended Kalman filter, also taking into account the air drag. The calibration is achieved by simply performing a few throws and observing their trajectories, as well as moving the robot to some predefined positions.
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Past examples of object catching in-flight were either restricted to catching simple spherical objects or to catching objects with a slow changing orientation.
“Although in the past, the field has seen impressive examples of object catching in-flight, they were either restricted to catching simple spherical objects [13], [28], [30]-[32], [44] or to catching objects with a slow changing orientation (e.g., a paper airplane [18]).”
From Catching Objects in Flight (2014) · cites this paper as [13]
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Kim, S., Shukla, A., & Billard, A. (2014) · IEEE Transactions on Robotics · doi:10.1109/tro.2014.2316022 · Cited by 220 · see citing works
Trajectory planning for optimal robot catching in real-time
Lampariello, R., Nguyen-Tuong, D., Castellini, C., Hirzinger, G., & Peters, J. (2011) · 2011 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2011.5980114 · Cited by 117 · see citing works
Self-citationKinematically optimal catching a flying ball with a hand-arm-system
Bauml, B., Wimbock, T., & Hirzinger, G. (2010) · 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2010.5651175 · Cited by 113 · see citing works
Self-citation
- Authors
- Frese, U., Bauml, B., Haidacher, S., Schreiber, G., Schaefer, I., Hahnle, M., & Hirzinger, G.
- Affiliations
- Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR) (DE)
- ORCID
- Frese, U.
- Venue
- Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
- Publisher
- IEEE
- Published
- 2002-11-13
- Volume
- 3
- Pages
- 1623-1629
- ISSN
- 2153-0858 (ISSN-L)
- OpenAlex
- W2104277144
- Cited by
- 103
- References
- 0
- Citations by year
- 2025: 2 · 2024: 5 · 2023: 2 · 2022: 3 · 2021: 4 · 2020: 8 · 2018: 2 · 2017: 5 · 2016: 2 · 2015: 5 · 2014: 6 · 2013: 4 · 2012: 7
- FWCI
- 1.00
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (publishedVersion)
- elib (German Aerospace Center) (submittedVersion)
- Topics
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Vision and Imaging
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Video Surveillance and Tracking Methods
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Keywords
- robot manipulators, visual object tracking, stereo camera, commercial off-the-shelf components, extended Kalman filter, aerodynamic drag, trajectory prediction, camera calibration
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Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
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