Baseball Catcher

 Skills Used: Perception, Controls, Stereo Cameras (Rectification, Depth)

This project was great experience in real-time control. The time between when the ball leaves the thrower and when the catcher needs to make a decision is about 300 ms. In that time our algorithm rectifies the stereo images, finds the location of the ball in the image, and determines where the ball will hit in the catcher frame. We were able to catch 17 out of 20 balls.