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1	Robot Goalkeeper : A robotic goalkeeper based on machine vision and motor control Adeboye, Taiyelolu January 2018 (has links) This report shows a robust and efficient implementation of a speed-optimized algorithm for object recognition, 3D real world location and tracking in real time. It details a design that was focused on detecting and following objects in flight as applied to a football in motion. An overall goal of the design was to develop a system capable of recognizing an object and its present and near future location while also actuating a robotic arm in response to the motion of the ball in flight. The implementation made use of image processing functions in C++, NVIDIA Jetson TX1, Sterolabs’ ZED stereoscopic camera setup in connection to an embedded system controller for the robot arm. The image processing was done with a textured background and the 3D location coordinates were applied to the correction of a Kalman filter model that was used for estimating and predicting the ball location. A capture and processing speed of 59.4 frames per second was obtained with good accuracy in depth detection while the ball was well tracked in the tests carried out. Object detection 3D reconstruction Object tracking Robot goalkeeper C++ OpenCV CUDA MATLAB Image processing Machine vision Linux OS GPU NVIDIA TX1 Stereolabs ZED Robotics Robotteknik och automation Embedded Systems Inbäddad systemteknik