View source for MRT: Ball Detection and Tracking with Hough and Kalman

{{Project
|title=MRT: Ball Detection and Tracking with Hough and Kalman
|coordinator=VincenzoCaglioti;MarcelloRestelli;
|students=GiovanniCondello;NicolaCrovetti
|resarea=Robotics
|restopic=MRT
|start=2010/02/15
|end=2010/06/15
|status=Closed
|level=Ms
|type=Course
}}
=== Project short description ===
The goal of this project is to re-design MRT's currently used Ball Detection algorithm in order to allow the detection of a generic FIFA ball and its tracking.
Ball Detection will be done using the Generalized Hough Transform, while its 3D tracking will use an Extend Kalaman Filter.  

=== Laboratory work and risk analysis ===

Laboratory work for this project will be probably performed at AIRLab/Bovisa. It will include significant amounts of testing on real robots. Potentially risky activities are the following:
* Transportation of heavy loads (e.g. robots).  Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Robot testing.  Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.