Particle Filter Based Tracking of Free-Swinging Objects for Visual Servoing

We present a visual servoing system for the synchronization
of a robot with a dynamic rigid body using a particle
filter-based state estimator. We experimentally demonstrate its
application for robotic loading of parts onto oscillating hangers
in an industrial paint line. The particle filter is implemented
with a physical dynamical model of the hanger, using the Euler
equations for a pendulum with three degrees of freedom. The
visual servoing system is successfully demonstrated using two
cameras to get a good 3D estimate of the hanger motion. The
experimental results indicate a maximum tracking error of 0.1
degrees.