Dynamic Stereo Triangulation for Robot Juggling

We have devised a nonlinear state estimator to recover the position and velocity of falling balls directly from the image plane measurements of a stereo camera pair. Avoiding an explicit triangulation step in the estimation procedure allows the continued use of one camera's data even when the other camera may be occluded. This paper presents a rudimentary analysis, some simulation results, and data from a working implementation that suggest the potential utility of the idea.

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