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Dynamic stereo triangulation for robot juggling

  • Section 5 Dynamic Skills
  • Conference paper
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Experimental Robotics III

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 200))

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Abstract

We have devised a nonlinear state estimator to recover the position and velocity of falling balls directly from the image plane measurements of a stereo camera pair. Avoiding an explicit triangulation step in the estimation procedure allows the continued use of one camera's data even when the other camera may be occluded. This paper presents a rudimentary analysis, some simulation results, and data from a working implementation that suggest the potential utility of the idea.

Supported in part by IBM through a Manufacturing Graduate Fellowship and in part by the National Science Foundation under grant IRI-9123266.

Supported by the National Science Foundation in part through a Presidential Young Investigator Award and in part under grant IRI-9123266.

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References

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Author information

Authors and Affiliations

  1. Artificial Intelligence Laboratory Department of Electrical Engineering and Computer Science, University of Michigan, USA

    A. A. Rizzi & D. E. Koditschek

Authors
  1. A. A. Rizzi
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  2. D. E. Koditschek
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Editor information

Tsuneo Yoshikawa (PhD)Fumio Miyazaki (PhD)

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© 1994 Springer-Verlag London Limited

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Rizzi, A.A., Koditschek, D.E. (1994). Dynamic stereo triangulation for robot juggling. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027602

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  • DOI: https://doi.org/10.1007/BFb0027602

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19905-2

  • Online ISBN: 978-3-540-39355-9

  • eBook Packages: Springer Book Archive

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