NDLI: Determining Shot Accuracy of a Robotic Pool System

Content Provider	IEEE Xplore Digital Library
Author	Lam, J. Fei Long Roth, G. Greenspan, M.
Copyright Year	2006
Description	Author affiliation: Queens University, Kingston, Canada (Lam, J.)
Abstract	A process is described to determine the shot accuracy of an automatic robotic pool playing system. The system comprises a ceiling-mounted gantry robot, a special purpose cue end-effector, a ceiling-mounted camera, and a standard bar pool table. Two methods are compared for extracting the homography between the camera and the table plane. A challenge was the relatively large area of the table surface, which required a similarly large chessboard pattern to determine the point homography. In contrast, the Dual Conic method required only a set of orthogonal lines as a calibration target, which was more convenient to manipulate, and could be calculated from the integration of multiple images with multiple target locations. The Dual Conic method was shown experimentally to recover the homography with a similar, and sometimes greater accuracy than the Chessboard method. An experimental procedure was devised to measure the accuracy of an automatic shot using a sequence of images acquired from the overhead camera. For a set of 10 shots, the average absolute angular error in placing a shot was determined to be 0.74^0, with a standard deviation of 0.96^0.
Starting Page	23
Ending Page	23
File Size	766704
Page Count	1
File Format	PDF
ISBN	0769525423
DOI	10.1109/CRV.2006.27
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-07
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Councils Robot vision systems Humans Cameras Robot sensing systems Hardware Calibration Robotics and automation Information technology
Content Type	Text
Resource Type	Article

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