Vision Based Tracker for Dart-Catching Robot

Magnus Linderoth, Anders Robertsson, Karl Åström, Rolf Johansson

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This paper describes how high-speed computer vision can be used in a motion control application. The specific application investigated is a dart catching robot. Computer vision is used to detect a flying dart and a filtering algorithm predicts its future trajectory. This will give data to a robot controller allowing it to catch the dart. The performance of the implemented components indicates that the dart catching application can be made to work well. Conclusions are also made about what features of the system are critical for performance.
Original languageEnglish
Pages (from-to)717-722
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Issue number16
Publication statusPublished - 2009
Event9th IFAC International Symposium on Robot Control - Gifu, Japan
Duration: 2009 Sept 9 → …

Subject classification (UKÄ)

  • Mathematics
  • Computer Vision and Robotics (Autonomous Systems)
  • Control Engineering

Free keywords

  • Dart catching
  • computer vision
  • camera calibration
  • state estimation


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