Improved high-speed vision system for table tennis robot

摘要

In this paper a high-speed vision system for table tennis robot is designed. The system architecture is designed firstly. Then a ball detection algorithm is proposed to improve the image processing speed up to 200 frames per second. Besides, a novel ball trajectory reconstruction algorithm is established, in which the cameras in the stereo vision system needn't be synchronized. Experimental results verify the effectiveness and accuracy of the proposed method.