Ball Positioning and Tracking using a Pan-Tilt-Zoom-Camera

Abstract Since the foundation of the CS-Freiburg Robocup-Team they have been using a steady camera to position the ball. Now this task has been extended to track the ball and a standard pan-tilt-zoom-camera is used to achive this goal. The problems arising through the newly added degrees of freedom will be introduced as well as an analytical method for positioning the ball through which an accaptable ball tracking is achived. Results confirming the quality of this method will be presented as well as a demonstration of the active camera.

Jussi Rintanen

Last modified: Mon Apr 28 08:35:27 CEST 2003