Control & Robotics Control & Robotics LabLab

Presented By: Yishai Eilat & Arnon Sattinger

Instructor: Shie Mannor

Project Presentation

System Setup

camera

Objectives

Locating a ball in a Foosball table based on a video stream

Real time performances

A robust solution

Simplicity

The Solution

Tracking & Estimation process Increase success probability

Enable limited search

Searching the ball in a restricted area

Reduce calculation Time

Eliminate irrelevant areas

Tracking & Estimation Tracking & Estimation sequencesequence

Based on continuity

Linear movement

Needs history

v

Search in full size window

Calc. Movement

Vector

Search in window around the estimated

position

Found?

Enlarge Window

No

Update & Go to

Next Frame

Yes

The Main LoopThe Main Loop

Problems in Finding The BallProblems in Finding The Ball

Smeared ball

Eclipsed ball

Black & white picture

Noises

Real-Time

The Main Idea The Main Idea

Find Pixels Above Threshold = Candidates

Filtering:

Form Objects

Subtract a const Background

Noise Players

Decide Who is the ball

Players FilterPlayers Filter

Identify pattern of players.

Based upon location

Assumes a symmetric Table

Doesn’t Filter The Doesn’t Filter The Keepers Keepers

Decision partDecision 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

Live show

The short clip will demonstrate the various features we discussed.

Future Improvements Future Improvements

The Table

The Camera

Software optimization

Integrate mechanic sensors

Thank you !

The End.