The computer vision based goalkeeper prototype is shown in action. The robot is working on stepper motors with a camera looking in front.
The image processing algorithms effectively eliminate any background by looking for stability through optical flow patterns using lucas kanade method.
Once the background is eliminated, the foreground mainly consists of the ball and noise.
The noise particles are further eliminated by using kalman filter.
The centroid of the ball is calculated. Further a prediction of the trajectory is made and the stepper made to move in the direction of defence!
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