相关论文: An Event-Based Perception Pipeline for a Table Ten…

Perception and decision-making in high-speed dynamic scenarios remain challenging for current robots. In contrast, humans and animals can rapidly perceive and make decisions in such environments. Taking table tennis as a typical example,…

Robot table tennis systems require a vision system that can track the ball position with low latency and high sampling rate. Altering the ball to simplify the tracking using for instance infrared coating changes the physics of the ball…

In recent years, robotic table tennis has become a popular research challenge for perception and robot control. Here, we present an improved table tennis robot system with high accuracy vision detection and fast robot reaction. Based on…

Spin plays a pivotal role in ball-based sports. Estimating spin becomes a key skill due to its impact on the ball's trajectory and bouncing behavior. Spin cannot be observed directly, making it inherently challenging to estimate. In table…

In this paper, we present a real-time egocentric trajectory prediction system for table tennis using event cameras. Unlike standard cameras, which suffer from high latency and motion blur at fast ball speeds, event cameras provide higher…

Prediction skills can be crucial for the success of tasks where robots have limited time to act or joints actuation power. In such a scenario, a vision system with a fixed, possibly too low, sampling rate could lead to the loss of…

We present a deep-dive into a real-world robotic learning system that, in previous work, was shown to be capable of hundreds of table tennis rallies with a human and has the ability to precisely return the ball to desired targets. This…

In racket sports, such as tennis, locating the ball's position at impact is important in clarifying player and equipment characteristics, thereby aiding in personalized equipment design. High-speed cameras are used to measure the impact…

This paper investigates trajectory prediction for robotics, to improve the interaction of robots with moving targets, such as catching a bouncing ball. Unexpected, highly-non-linear trajectories cannot easily be predicted with…

Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under…

Event cameras are bio-inspired sensors that capture the per-pixel intensity changes asynchronously and produce event streams encoding the time, pixel position, and polarity (sign) of the intensity changes. Event cameras possess a myriad of…

Line segment extraction is effective for capturing geometric features of human-made environments. Event-based cameras, which asynchronously respond to contrast changes along edges, enable efficient extraction by reducing redundant data.…

Perception systems for ornithopters face severe challenges. The harsh vibrations and abrupt movements caused during flapping are prone to produce motion blur and strong lighting condition changes. Their strict restrictions in weight, size,…

Optical flow provides information on relative motion that is an important component in many computer vision pipelines. Neural networks provide high accuracy optical flow, yet their complexity is often prohibitive for application at the edge…

Real-time robot actuation is one of the main challenges to overcome in human-robot interaction. Most visual sensors are either too slow or their data are too complex to provide meaningful information and low latency input to a robotic…

In table tennis, the rotation (spin) of the ball plays a crucial role. A table tennis match will feature a variety of strokes. Each generates different amounts and types of spin. To develop a robot that can compete with a human player, the…

Event-based sensors have recently drawn increasing interest in robotic perception due to their lower latency, higher dynamic range, and lower bandwidth requirements compared to standard CMOS-based imagers. These properties make them ideal…

Event cameras are bio-inspired sensors that differ from conventional frame cameras: Instead of capturing images at a fixed rate, they asynchronously measure per-pixel brightness changes, and output a stream of events that encode the time,…

With the rapid development of electronic science and technology, the research on wearable devices is constantly updated, but for now, it is not comprehensive for wearable devices to recognize and analyze the movement of specific sports.…

Event-based cameras, inspired by the biological retina, have evolved into cutting-edge sensors distinguished by their minimal power requirements, negligible latency, superior temporal resolution, and expansive dynamic range. At present,…