Tracking of Ball Trajectories with a Free Moving Camera-Inertial Sensor

Oliver Birbach; J. Kurlbaum; Tim Laue; Udo Frese

In: Proceedings of the RoboCup International Symposium, Suzhou. RoboCup International Symposium (RoboCup), located at The 12th RoboCup International Competitions and Conferences, RoboCup-2008 Suzhou, July 15-18, Suzhou, China, 2008.


This paper is motivated by the goal of a visual perception system for the RoboCup 2050 challenge to win against the human worldcup champion. Its contribution is to answer two questions on the subproblem of predicting the motion of a flying ball. First, if we could detect the ball in images, is that enough information to predict its motion precise enough? And second, how much do we lose by using the real-time capable Unscented Kalman Filter (UKF) instead of non-linear maximum likelihood as a gold standard?We present experiments with a camera and an inertial sensor on a helmet worn by a human soccer player. These confirm that the precision is roughly enough and using an UKF is feasible.

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Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence