Control & Robotics Lab

1. Control & Robotics Lab Project Presentation • Presented By: Yishai Eilat & Arnon Sattinger • Instructor: Shie Mannor

2. camera System Setup

3. Objectives • Locating a ball in a Foosball table based on a video stream • Real time performances • A robust solution • Simplicity

4. The Solution • Tracking & Estimation process • Increase success probability • Enable limited search • Searching the ball in a restricted area • Reduce calculation Time • Eliminate irrelevant areas

5. v Tracking & Estimation sequence • Based on continuity • Linear movement • Needs history

6. Calc. Movement Vector Search in window around the estimated position Update & Go to Next Frame Enlarge Window No Yes Found? The Main Loop Search in full size window

7. Smeared ball • Eclipsed ball • Black & white picture • Noises • Real-Time Problems in Finding The Ball

8. The Main Idea • Subtract a const Background • Find Pixels Above Threshold = Candidates • Filtering: • Noise • Players • Form Objects • Decide Who is the ball

9. Players Filter • Identify pattern of players. • Based upon location • Assumes a symmetric Table • Doesn’t Filter The Keepers

10. Decision part • Rule out: • objects that are too small • objects in keeper zone (if an object outside the Keeper zone exists) • Chose the closest object to the Estimated Position

11. Live show The short clip will demonstrate the various features we discussed.

12. Future Improvements • The Table • The Camera • Software optimization • Integrate mechanic sensors

13. The End. Thank you !