Color-Independent Ball Classification

In this section we briefly discuss the classifier for ball detection that is applied to the foci of attention. The algorithm here refers to previous work discussed in [16], which was inspired by Viola and Jones' boosted cascade of simple classifiers for fast face detection [22].

Figure 3: Left: Sobel filter applied to a colored image and then thresholded. Right: Edge, line, diagonal, center surround and $45^\circ$ features are used for classification.