Real-time vision for robot swat-juggling

Abstract: "This paper describes the implementation of a vision system developed to track moving objects in real-time. In the implementation described, a "puck" sliding on an inclined plane is tracked so that its position and velocity may be used to "swat-juggle" it to a constant height at a specified lateral position. Raw centroid calculations of the puck based on images from a CCD camera are filtered using an "augmented" linear observer and an interpolator to produce puck state estimates. Experimental data and results are presented and compared to the previous method of puck state sensing."