CDR

The robot will be have a black top layer which is to detect the robot itself on the gamefield. It has two white circle, A and B in Figure XXX1, with different radius. With helping of top camera, they will be detected. Then, centroids of them are found in MATLAB. Information about the location and direction of the robot can be extracted by comparing these centroids. It will help to track the robot while it is moving.

Although RGB color space provides good opportunity to find balls, HSB(HSL) has many other advantages apart from that. HSB is only another representaion of the frame. The first advantage is customizable color channels for requirements. The green ball can be detected more easily because we can create custom green channel for it according to its hue. In this new channel, other balls are eliminated with a band pass hue filter. We have less false positive values when using HSB, which can be seen in Figure XXX2. The second advantage is less computing time. According to our test results, we can find ball locations in consecutive frames in less time in Figure XXX4.