3D Velocity Measurement of Single-color Table Tennis Rotation Based on Visual System of Table Tennis Robot

Rotation is the key winning factor to table tennis, thus acquiring the rotating information of the table tennis ball is an essential task of the table tennis robot vision. This paper presents the algorithm based on the monocular vision that can calculate 3D velocity of high-speed rotating sphere, which can be used to calculate the rotating velocity of table tennis ball with no marks. The algorithm can be applied to the vision recognition of table tennis robot to acquire the rotating information of table tennis ball, which plays an important role in motion planning and control decision of robot at the subsequent stages. The experimental results of the proposed algorithm are verified with little error, which proves the feasibility of the proposed method.