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

2. System Setup camera

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

6. 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 Loop

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

8. The Main Idea  Find Pixels Above Threshold = Candidates  Filtering:  Form Objects  Subtract a const Background  Noise  Players  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. Thank you ! The End.