Target Motion Estimation by Multi-Eye Vision Hand-Arm

In this paper, we propose a “Multi-Eye Vision Hand-Arm,” in which many small high-speed cameras are mounted on the entire body of a hand-arm robot to eliminate blind spots in visual recognition. Also, we propose a method to estimate the trajectory of a moving object by integrating asynchronous visual information from each high-speed camera with a nonlinear Kalman filter. We realized ball tracking and catching to confirm the system’s effectiveness.