Dennis Barteit

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  • Video comment
    3 months ago
    Dennis Barteit commented on TOTO - tracking of thrown objects

    Thanks, Jason. Of course, calibration is a problem with a fixed camera. I have some calibration sheets at the robot (you won't see them in the clip) for the determination of extrinsic camera parameters. Thus, the operational plane of the robot defines a world coordinate system. Calibration is done with the openCV library (sourceforge.net/projects/opencvlibrary/). Also the correction of radial and tangential distortion is done with openCV. However, the intrinsic camera parameters are obtained by the Matlab camera calibration toolbox and a couple of images of a calibration sheet (vision.caltech.edu/bouguetj/calib_doc/). The distortion is not that large, 'cause I use a 8.5 mm lens.

  • Video comment
    3 months ago
    Dennis Barteit commented on TOTO - tracking of thrown objects

    Yes, I know the robot hand of the Ishikawa Lab. They are doing really great work there. In the first publication, I know of them, in 2003, they presented a catching robot arm that could accelerate with 91G. It was equipped with a active stereo-vision system that could permanently track an object with 1000 fps. Really great work!

  • Video comment
    3 months ago
    Dennis Barteit commented on TOTO - tracking of thrown objects

    Yes, a PC is used to detect the object in the image data, calculate the 3-D position, and predict the future flight trajectory. From this, an interception position is determined and the position information is sent to a Siemens SIMOTION motion controller (automation.siemens.com/_en/mc/mc-sol/en/2ea3f697-5b50-4d8f-b13f-80e338afad9f/index.aspx?c=r-simotion). The SIMOTION controls the movement of the robot's axes.

  • Video comment
    3 months ago
    Dennis Barteit commented on Transport by Throwing

    Ups, sorry for not responding! Thanks! I used Google Sketch to quickely make some "animations". In fact, it is more a 3-D model. There is no animated movement except the one of the camera. Unfortunately, the animation of moving objects isn't that easy in Sketch Up..

  • Video comment
    3 months ago
    Dennis Barteit commented on TOTO - tracking of thrown objects

    We tried to use off-the-shelf industrial components.

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