Real-Time Vision for Robot Swat-Juggling

Abstract

This paper describes the implementation of a vision system developed to track moving objects in real-time. In the implementation describe, a puck sliding on an inclined plane is tracked so that its position and velocity may be used to swat-juggle it to a constant height at a specified lateral position. Raw centroid calculations of the puck based on images from a CCD camera are filtered using an augmented linear observer and an interpolator to produce puck state estimates. Experimental data and results are presented and compared to the previous method of puck state sensing.

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Document Details

Document Type
Technical Report
Publication Date
Dec 10, 1990
Accession Number
ADA233010

Entities

People

  • Sanjiv Singh

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Air Platforms
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Accuracy
  • Calibration
  • Cameras
  • Computational Science
  • Computations
  • Computer Vision
  • Control Systems
  • Difference Equations
  • Dynamics
  • Electronic Circuits
  • Equations
  • Experimental Data
  • Measurement
  • Observers
  • Robotics
  • Sampling
  • Time Intervals

Fields of Study

  • Physics

Readers

  • Approximation Theory.
  • Geospatial Intelligence and Artificial Intelligence Analytics
  • Image Processing and Computer Vision.

Technology Areas

  • AI & ML
  • AI & ML - Bayesian Inference
  • Autonomy