Ball tracking and trajectory prediction system for tennis robots

IF 4.8 2区 工程技术 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Journal of Computational Design and Engineering Pub Date : 2023-04-29 DOI:10.1093/jcde/qwad054
Yoseph Yang, David Kim, Dongil Choi
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Abstract

Recently, as the service robot market has grown, robots have emerged in various fields such as industry, service, and sports. In the field of sports, robots that can play with humans have been developed. We proposed a novel vision system for measuring the trajectory of a tennis ball and predicting its bound position, which can be utilized in the development of tennis robots. In this paper, we introduce a ball detection algorithm using an artificial neural network and a ball trajectory prediction algorithm using stereo vision. Our approach involved the use of a net vision system and a robot vision system to accurately detect and track the ball as it moves across the court. By combining these two systems, we were able to predict the trajectory and bound position of the tennis ball with high accuracy. As a result, the accuracy of the neural network for ball detection in actual tennis images reaches 81.4%. The ball trajectory prediction error in Gazebo simulation is 29.6 cm in the x-axis, 7.2 cm in the y-axis, and 11.7 cm in the z-axis on average.
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网球机器人球跟踪与轨迹预测系统
最近,随着服务机器人市场的增长,机器人在工业、服务、体育等各个领域都出现了。在体育领域,可以和人类一起玩的机器人已经被开发出来。提出了一种测量网球运动轨迹并预测其边界位置的视觉系统,可用于网球机器人的开发。本文介绍了一种基于人工神经网络的球检测算法和一种基于立体视觉的球轨迹预测算法。我们的方法包括使用网络视觉系统和机器人视觉系统来准确地检测和跟踪球在球场上的移动。通过结合这两个系统,我们能够以较高的精度预测网球的轨迹和束缚位置。结果表明,神经网络在实际网球图像中的球检测准确率达到81.4%。Gazebo仿真的球轨迹预测误差平均为x轴29.6 cm, y轴7.2 cm, z轴11.7 cm。
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来源期刊
Journal of Computational Design and Engineering
Journal of Computational Design and Engineering Computer Science-Human-Computer Interaction
CiteScore
7.70
自引率
20.40%
发文量
125
期刊介绍: Journal of Computational Design and Engineering is an international journal that aims to provide academia and industry with a venue for rapid publication of research papers reporting innovative computational methods and applications to achieve a major breakthrough, practical improvements, and bold new research directions within a wide range of design and engineering: • Theory and its progress in computational advancement for design and engineering • Development of computational framework to support large scale design and engineering • Interaction issues among human, designed artifacts, and systems • Knowledge-intensive technologies for intelligent and sustainable systems • Emerging technology and convergence of technology fields presented with convincing design examples • Educational issues for academia, practitioners, and future generation • Proposal on new research directions as well as survey and retrospectives on mature field.
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