Multi-Camera Asynchronous Ball Localization and Trajectory Prediction with Factor Graphs and Human Poses

The rapid and precise localization and prediction of a ball are critical for developing agile robots in ball sports, particularly in sports like tennis characterized by high-speed ball movements and powerful spins. The Magnus effect induced by spin adds complexity to trajectory prediction during flight and bounce dynamics upon contact with the ground. In this study, we introduce an innovative approach that combines a multi-camera system with factor graphs for real-time and asynchronous 3D tennis ball localization. Additionally, we estimate …

agile asynchronous complexity cs.cv cs.ro graphs human localization movements prediction robots speed spin sports tennis trajectory