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Control & Robotics Lab

This presentation explores a robust solution for locating a ball in a foosball table using a video stream. Developed by Yishai Eilat and Arnon Sattinger under the guidance of instructor Shie Mannor, the project emphasizes simplicity and effectiveness in real-time performance. The system employs advanced tracking and estimation techniques to increase success probabilities while limiting search areas, thus reducing calculation time. Key features include filtering players, estimating the ball's position, and adapting to dynamic conditions. Future improvements involve enhancing hardware and software capabilities.

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Control & Robotics Lab

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Presentation Transcript

  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 !

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