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멀티비전을 이용한 실시간 테니스 공 궤적 및 낙하지점 예측방법
양요셉(Yo Seph Yang),최동일(Dongil Choi) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
Recently, the development of robots that can exercise and play sports with humans is actively progressing. In sports such as tennis and table tennis, it is important to predict the trajectory of a moving ball to receive the ball. The problem of predicting the trajectory of a ball using robot camera images is a topic that is being actively studied in the field of computer vision. In this paper, we introduce a tennis ball trajectory prediction method using a multi-vision system. In order to predict the trajectory of the ball, the identification of the position and speed of the tennis ball must be prioritized. Our multi vision system sets up two cameras and estimates ball position and landing point in real-time through object detection. The performance of the proposed method was evaluated through Gazebo simulation. As a result of predicting landing points for 500 samples with a tennis ball speed of 65 to 90 km/h, the x-axis error MAE is 0.3 m, the RMSE is 0.406 m, the y-axis error MAE is 0.065 m, and the RMSE is 0.119 m.