All posts by thanhnguyen118

My name is Truong Thanh, graduated Master of Information Technology and Artificial Intelligent in Frankfurt University,Germany. I create this Blog to share my experience about life, study, travel...with friend who have the same hobbies.

Du lịch Bắc Âu

Hallo các bạn, hôm nay mình xin kể về chuyến đi 3 nước khu vực bắc âu mà mình vừa mới đi tháng 12 năm nay.

Chả là trước giờ mình nghe trên phía bắc, khu vực băng tuyết dày đặc có 1 sư kiện tuyệt đẹp xảy ra gọi là cực quang( polar light), dành cho bạn nào chưa biết thì nó như này này

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Đấy, đẹp chưa!!

Ấy vậy mà sự thật thì chẳng được vậy đâu, à mà thôi, để kể từ đầu chứ mới vô đã dìm thế này ai còn muốn đi nữa:)))

Chuyến đi kéo dài trong vòng 4 ngày với lịch trình như sau. Ngày đầu tiên đi máy bay đến Sweeden, ăn chơi nhảy múa ở đó đến chiều thì lên cruise( cái tàu to to sang sang chảnh chảnh chuyên chở khách du lịch trên phim ấy), từ Copehagen sang Helsinki, thủ đô Findland. Từ FindLand sẽ đi bus Lên cái làng mà hồi xưa có ông già rảnh hay vác của nhà đi cho sau này người ta gọi là ông già noen hay Santa Claus gì ấy. Cuối cùng đi tàu sang Talin thủ đô của Estonia, rồi đi về thôi. Giờ câu chuyện sẽ bắt đầu ở Copehagen. Ở đây hơi bị… buồn, thật áy náy với mấy bạn thuỵ Điển cơ mà thủ đô của mấy bạn toàn người già, hông thấy nhộn nhịp gì hết trơn. Cơ  mà nhà đẹp, đồ ăn ngon với cả đặc sản cung điện hoàng gia với mấy anh lính đứng canh anh nào cũng rất là…. Kiên nhẫn, muỗi đốt không dám đập, mưa ướt không dám lau, ngứa… Không dám gãi. Phải rồi, trang bị tận răng cơ với cả chắc lương cao ngất ngưởng chỉ mỗi việc đứng đấy từ sáng tới chiều cho thiên hạ người ta chụp hình, bình luận, dò xét:)). Dưới đây là hình cực ngẩu của mấy ảnh (máy cùi chụp bị mờ, các bạn thông cảm, hì hì).

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The Witcher 3: Wild Hunt

The Witcher 3: Wild Hunt (Polish: Wiedźmin 3: Dziki Gon) is a high-fantasy, action role-playing video game set in an open-world environment, developed by CD Projekt RED. Announced in February 2013, it was released worldwide for Microsoft Windows, PlayStation 4, and Xbox One on 19 May 2015. The game is the third in the series, preceded by The Witcher and The Witcher 2: Assassins of Kings, which are based on the series of fantasy novels by Polish author Andrzej Sapkowski.

Played in a third-person perspective, players control protagonist Geralt of Rivia, a monster hunter known as a witcher, who sets out on a long journey through the Northern Kingdoms. In the game, players battle against the world’s many dangers using swords and magic, while interacting with non-player characters and completing side quests and main missions to progress through the story. The game was met with critical acclaim and was a financial success, selling over 6 million copies in six weeks. The game won over 200 Game of the Year awards from various gaming websites, critics, and game award shows including the Golden Joystick Awards and The Game Awards.

The purpose of this guide is to maximize your chances for romantic encounters in The Witcher 3: Wild Hunt. Some of the characters Geralt gets to bed are true romantic interests, while others are just casual partners. Either way, in order to end up in bed with your chosen partner, you’ll have to seduce them. This will be done through gifts, sweet talking and similar actions. In this Witcher 3 romance guide, we’re going to list all the character we find you can have sex with, as well as the conditions for having it.

While adventuring, Geralt of Rivia has more than one opportunity to polish more than his steel sword for an evening. There are a number of women that can be wooed into a night of passion. But how many? Who? And where? Glad you asked. The following are the times, quests (where appropriate), and ladies you can spend a romantic evening, or a rutting session, with. Any stipulations are listed in their appropriate quests.

wicher

Those who’ve played the previous games are already familiar with Triss – she has starred in both of the former games, and has been available for romance in both, too. Once again, she can be a romantic interest if you choose so. You need to finish her sidequest – Now or Never, after you’ve done the main quest A Favor For Radovid, as well as the secondary quest A Matter of Life And Death.

During the A Matter of Life and Death, you need to kiss Triss at the masquerade. When you start Now or Never, go and defend the mages. When you’re at the docks near the end, Triss is resolved to leave for Kovir with the other sorcerers. Geralt can ask her to stay, telling her that they can try to make their relationship work, or he can truly pour his heart out and tell her that he loves her. She then boards the boat, but (if Geralt said he loves her and only then) comes back for you. You then have sex at a lighthouse.

Đông Sơn drums

Đông Sơn drums (also called Heger Type I drums) are bronze drums fabricated by the  Đông Sơn culture in the Red River Data of northern Vietnam. The drums were produced from about 600 BCE or earlier until the third century CE and are one of the culture’s finest examples of Metalworking.

The drums, cast in bronze using the lost-wax casting method are up to a meter in height and weigh up to 100 kilograms (220 lb). Đông Sơn drums were apparently both musical instrument and cult objects. They are decorated with geometric patterns, scenes of daily life and war, animals and birds, and boats. The latter alludes to the importance of trade to the culture in which they were made, and the drums themselves became objects of trade and heirlooms. More than 200 have been found, across an area from eastern Indonesia to Vietnam and parts of Southern China.

History

Co_Loa_bronze_drum

The earliest drum found in 1976 existed 2700 years ago in Wangjiaba in Yunnan Chuxiong Yi Autonomous Prefecture China. It is classified into the bigger and heavier Yue drums including the Dong Son drums, and the Dian drums, into 8 subtypes, purported to be invented by Ma Yuan and Zhuge Liang. But the Book of the Later Han said Ma melt the bronze drums seized from the rebel Lạc Việt in into horse.

The discovery of Đông Sơn drums in New Guinea, is seen as proof of trade connections – spanning at least the past thousand years – between this region and the technologically advanced societies of Java and China.

In 1902, a collection of 165 large bronze drums was published by F. Heger, who subdivided them into a classification of four types.

For generations, the Dong Son bronze drum, typical of the Dong Son culture and the Red River civilization of the ancient Viet people in the Hung Vuong period, built the Van Lang country to become a sacred symbol of Vietnamese national culture. . The image of the bronze drum is not only a precious treasure of Vietnamese culture, but also a convergence of the sacred mountains and rivers formed from the time of Hung Vuong’s creation and accumulating national essence throughout the history of construction. country and national defense of Vietnam from the era of Hung Kings to the era of glory Ho Chi Minh. Dong Son bronze drums discovered throughout the territory of Vietnam proved that. During thousands of years of building the country and defending the country, the bronze drum has been a symbol of cultural quintessence as well as the mighty will of our nation. In solemn ceremonies as well as joyful summer festivals, the resounding sound of the drums resounding in the bronze drum creates a majestic atmosphere, increases national pride and makes the Nguyen Dynasty’s ambassador Tran Phu upon setting foot. Arriving at Thang Long land, heard the drum sound: “Kim through the image of the heart of the heart; The ancient bronze is pure white arises” (Afraid to see the sword shine; Gray hair because of hearing the drum sound) The homeland of the Dong Son bronze drum is the Ancestral Land in the midland of Phu Tho and the provinces of North and North Central Vietnam. Dong Son bronze drums existed from the 7th century BC to the 6th century AD. It is a brainchild of the ancient Vietnamese. Our ancestors overcame the harshness of nature with rare courage, intelligence and creativity, created a brass metallurgical technique imbued with Vietnamese indigenous elements, and created a copper culture. brass is among the first in Southeast Asia. Dong Son bronze drums are the product of an agricultural civilization that grows brilliantly and shines bright on the basin of the Red River – Cai River of Viet Nam’s Motherland – The birthplace of the nation and land. Vietnam country today.

Source: Internet

Vietnamese bronze drums have many types, but all of them originate from Dong Son drums, which are the I Hê-Gơ drums according to the classification of German archaeologists. The drum was born from the Dong Son culture associated with the period of Hung Kings building up Van Lang country, where Phu Tho was the center of Dong Son culture – Red River civilization – The pinnacle of technical perfection. The largest ever drum size of Hung Temple was discovered in 1990 at Doi Moi Muoi – an old village near the foot of Nghia Linh mountain – where the Hung Kings Temple was built. country. That proves: The bronze drum of Hung Temple is a sacred object used by the State of Van Lang as a mascot every festival and summer festival at Hung Temple historic site. Along with many other type I bronze drums found on the land of Vietnam, these are extremely valuable documents proving the birth origin and a sacred place in the Vietnamese spiritual life. The bronze drum is not only the mascot, but through which we have been clarified many scientific issues, but the drum is the message that forms the most centralized symbol of achievements in economic, cultural, social and social activities. the authority of a state was first established in our country – Hung Vuong State. The bronze drums and the carvings on the drums help us today to imagine a few features of the life of the ancient Vietnamese in that ancient time. Patterns on bronze drums have many types, reasonably arranged on the face, tang and body. It is researched and analyzed by researchers to serve as a scientific basis in classifying the drum and depicting features of Dong Son economic, social and cultural activities at that time. The bronze drum not only has the function of musical instrument, but also has other functions such as a symbol of power, religion … The drum is used in religious ceremonies, festivals, and in the fight against foreign invaders. invasion, when the tribal leader calls on people from all over to gather to fight. Drums often belong to leaders and are symbols of power. The more powerful the leader, the bigger and beautiful the drum is. The bronze drum is also considered a valuable asset, and is made a funeral when the owner dies. Dong Son bronze drum is a product of a developed agricultural civilization, an extremely precious artifact, one of the deep pride of Vietnamese culture. Today, hundreds of bronze drums are discovered and stored solemnly in national and local museums, Thanh Son in the west of Phu Tho province is the only place in Vietnam that still remains. Bronze drum festival of the Muong ethnic group with festivals “Dam Duong” and “Cham brass”. This is also one of the sacred areas of Phu Tho province that has found the most bronze drums in the ground. It is for that reason that Phu Tho province has restored a sacred rite of beating bronze drums on the anniversary of Hung Vuong’s death anniversary – Hung Temple Festival on March 10th of lunar calendar every year to serve local people and tourists. to attend the festival’s activities. This is an activity to show respect and honor cultural values, through which, actively promote activities to preserve and promote the values ​​of cultural heritages in general and heritage emblems. typical traditional culture of the Vietnamese nation in particular. Contribute to strengthening the cohesion and solidarity of the Vietnamese community in order to arouse the traditional pride in the struggle to build and defend the country of the Vietnamese people, practically contribute to the moral education of “Drink water, remember its source” ; “Miss the tree grower” for generations to follow the glorious tradition of his father. Following the admonition of the beloved Uncle Ho when he visited Hung Temple and the Hung Kings: “… The Hung Kings have made a contribution to the country, our Uncle and I must keep together …”. Together, solidarity, joint strength, and our heart and soul to build a strong and prosperous Vietnam to step on the path of socialism for the following goals: Rich people, strong country, fairness, democracy and civilization stand shoulder to shoulder with the above powers. world. From Hung Temple, the sound of Dong Son bronze drums will be echoed and echoed to all parts of the country. From Hung Temple, the sound of Dong Son bronze drums will be echoed in the hearts of international friends across the five continents and four seas. From Hung Temple, the sound of bronze drums echoes as affirming the values ​​of tradition, deep human morality of the Vietnamese people throughout the history of building and defending the country with many events and ups and downs. stand firm and proudly grow with humanity.

RobotCup: The Future Champion League

RoboCup is an annual international robotic competition proposed in 1997 and founded in 1997. The aim is to promote robotics and AI research, by offering a publicly appealing, but formidable challenge. The name RoboCup is a contraction of the competition’s full name, “Robot Soccer World Cup”, but there are many other stages of the competition such as “RoboCupRescue”, “RoboCup@Home” and “RoboCupJunior”. In 2015 the world’s competition was held in Heifei, China. RoboCup 2016 will be held in Leipzig, Germany. The official goal of the project:

“By the middle of the 21st century, a team of fully autonomous humanoid robot soccer players shall win a soccer game, complying with the official rules of FIFA, against the winner of the most recent World Cup”.

As a Master student of Frankfurt University, I aslo have a project with the Robot who is the best choice for for the Robot Cup as the moment, his name is NAO.

NAO

Nao (pronounced now) is an autonomous, programmable humanoid robot developed by Aldebaran Robotics, a French robotics company headquartered in Paris. The robot’s development began with the launch of Project Nao in 2004. On 15 August 2007, Nao replaced Sony’s robot dog Aibo as the robot used in the Robot Cup Standard Platform League, an international robot soccer competition. The Nao was used in RoboCup 2008 and 2009, and the NaoV3R was chosen as the platform for the SPL at RoboCup 2010. Nao robots have been used for research and education purposes in numerous academic institutions worldwide. As of 2015, over 5,000 Nao units are in use in more than 50 countries.

About me

Hi, tôi là Thành, tốt nghiệp master tại Frankfurt University of Applied Science (Sep 2017). Tôi lập ra blog về Autonomous Navigation này với mục đích đóng góp một chút sức lực vào cộng đồng xe tự  lái Việt Nam cũng như giúp mọi người tiếp cận lĩnh vực này một cách nhanh chóng và dễ dàng nhất để giải quyết những bài toán phức tạp mà chúng ta đang đối mặt hiện nay.

Ắt hẳn khi chúng ta tìm kiếm từ khóa “Autonomous Navigation”, có rất nhiều kết quả gồm các tài liệu, các khóa học, các trang blog và các phần mềm để cho chúng ta tìm hiểu. Thông thường, ta sẽ đọc hết các nguồn tài liệu này với hy vọng nắm bắt các khái niệm nhanh nhất có thể. Tuy nhiên, việc làm này đòi hỏi rất nhiều thời gian và công sức, đồng thời phải có người hướng dẫn để chúng ta bắt đầu. Thay vì vậy, blog này hướng mọi người đến sự hiểu biết thấu đáo về lĩnh vực Autonomous Navigation cả về kĩ năng làm việc lẫn kiến thức trong ngành công nghiệp này.

Thông qua các ví dụ thực tế và ngôn ngữ lập trình cụ thể, ta sẽ đóng vai như một kỹ sư tự lái thực thụ. Ta quan tâm nhiều đến bài toán cần giải quyết hơn là các lý thuyết về các thuật toán. Vì các thuật toán này thường đã có các thư viện cài đặt sẵn cũng như đã được tối ưu cho từng mô hình xác định. Ta không nên mất nhiều thời gian xây dựng lại những gì đã có, để rồi trở nên chán nản và từ bỏ mục tiêu ban đầu của mình.

Thêm vào đó, tôi cũng chia sẻ những kinh nghiệm của mình trong học tập, làm việc và nghiên cứu để các bạn trẻ mới bắt đầu trong lĩnh vực này tham khảo cũng như định hướng sự nghiệp sau này của mình được tốt hơn.

Hy vọng những gì tôi mang lại trong blog giúp ích được nhiều cho mọi người trong học tập, công việc và ngày càng đam mê hơn với Autonomous Navigation . Mọi thắc mắc, các bạn có thể liên hệ riêng qua form đặt ở sidebar bên phải hoặc comment bên dưới để các bạn quan tâm cùng tham khảo.

 

Hallo, ich bin Thanh, Master in der Frankfurter Fachhochschule (Sep 2017). Ich habe diesen Autonomen Navigation Blog mit dem Ziel, ein wenig Energie auf die vietnamesische Selbst-treibende Gemeinschaft sowie die Menschen Zugang zu dem Feld der schnellste und einfachste Weg, um komplexe mathematische Probleme zu lösen. Wir stehen jetzt vor.
Als wir nach dem Stichwort “Autonome Navigation” suchen, gibt es viele Ergebnisse, darunter Dokumente, Kurse, Blogs und Software für uns, um herauszufinden. Oft werden wir alle diese Quellen in der Hoffnung lesen, die Konzepte so schnell wie möglich zu erfassen. Allerdings erfordert dies viel Zeit und Mühe, und muss ein Moderator haben, um uns zu beginnen. Stattdessen zielt der Blog darauf ab, Menschen Einblicke in das Gebiet der Autonomen Navigation zu geben, sowohl in Bezug auf ihre beruflichen Fähigkeiten als auch ihr Wissen in der Branche.
Durch praktische Beispiele und Programmiersprache werden wir als wahrer Datenwissenschaftler fungieren. Wir sind mehr daran interessiert, das Problem zu lösen als die Theorie der Algorithmen. Da diese Algorithmen oft auch eingebaute Bibliotheken haben, sind sie für spezifische Modelle optimiert. Sie müssen nicht viel Zeit damit verbringen, wieder aufzubauen, was Sie haben, dann werden Sie deprimiert und verlassen Ihr ursprüngliches Ziel.

Darüber hinaus teile ich auch meine Erfahrungen in dem Studium, der Arbeit und der Erforschung, damit junge Menschen ihre Karriere in diesem Bereich beginnen und ihre zukünftige Karriere begleiten können.
Hoffentlich, was ich in den Blog bringen, hilft viel für Menschen beim Lernen, Arbeiten und immer leidenschaftlicher mit Autonomer Navigation. Alle Fragen, können Sie durch das Formular in der rechten Seitenleiste oder Kommentar unten für Ihr Interesse an der gleichen Referenz zu kontaktieren.

Căn Bản Về Python (Python programing language)

Python là một ngôn ngữ lập trình thông dịch nhe do Guido van Rossum tạo ra năm 1990. Python hoàn toàn tạo kiểu động và dùng cơ chế cấp phát bộ nhớ tự động; do vậy nó tương tự như Perl, Ruby, Scheme, Smalltalk, và Tcl. Python được phát triển trong một dự án mã mở, do tổ chức phi lợi nhuận Python Software Foundation quản lý.

Theo đánh giá của Eric S. Raymond, Python là ngôn ngữ có hình thức rất sáng sủa, cấu trúc rõ ràng, thuận tiện cho người mới học lập trình. Cấu trúc của Python còn cho phép người sử dụng viết mã lệnh với số lần gõ phím tối thiểu, như nhận định của chính Guido van Rossum trong một bài phỏng vấn ông.

Ban đầu, Python được phát triển để chạy trên nền Unix. Nhưng rồi theo thời gian, nó đã “bành trướng” sang mọi hệ điều hành từMS-DOS đến Mac OS, OS/2, Windows, Linux và các hệ điều hành khác thuộc họ Unix. Mặc dù sự phát triển của Python có sự đóng góp của rất nhiều cá nhân, nhưng Guido van Rossum hiện nay vẫn là tác giả chủ yếu của Python. Ông giữ vai trò chủ chốt trong việc quyết định hướng phát triển của Python.

Python được thiết kế để trở thành một ngôn ngữ dễ học, mã nguồn dễ đọc, bố cục trực quan, dễ hiểu, thể hiện qua các điểm sau:

  • Python tăng cường sử dụng từ khóa tiếng Anh, hạn chế các kí hiệu và cấu trúc cú pháp so với các ngôn ngữ khác.
  • Python là một ngôn ngữ phân biệt kiểu chữ HOA, chữ thường.
  • Như C/C++, các từ khóa của Python đều ở dạng chữ thường.

Trong các ngôn ngữ khác, khối lệnh thường được đánh dấu bằng cặp kí hiệu hoặc từ khóa. Ví dụ, trong C/C++, cặp ngoặc nhọn { } được dùng để bao bọc một khối lệnh. Python, trái lại, có một cách rất đặc biệt để tạo khối lệnh, đó là thụt các câu lệnh trong khối vào sâu hơn (về bên phải) so với các câu lệnh của khối lệnh cha chứa nó.

CauTrucPython

Ví dụ trên cho ta thấy cách trình bày một đoạn code Python cực kì rõ ràng và hiệu quả. Tương tự như Java, java sử dụng từ khóa import để biết được trong đoạn code này dùng những libraries nào. Trong python, một class sẽ thể hiện một instace của object tương tự như Java hoặc C++, nhưng các phương thức(Method) trong Python được viết là def(definition), phương thức def_init tương tự như constructor trong C++, sẽ chứa những defaut values của Class. Trong một class sẽ có thể có nhiều phương thức, trong mỗi phương thức sẽ là code để thực hiện một hành động gì đó cho class, ví dụ như class “Con Mèo” thì sẽ có những phương thức như đi, đứng, chạy, nhảy.

Where the wind creates cloud waterfalls

As the sun dipped lower and lower over the lush, volcanic Canary Islands, travelling steadily onward on its inexorable collision course with the sea, ripples of anticipation resonated across our small group of stargazers. Clad in warm coats (nights on the craggy flanks of the Spanish island’s giant volcano can be blustery), we listened as astrophysicist Agustin Nunez explained why La Palma is – no exaggeration – the best place on Earth to see the stars.\

tải xuống (3)
A view of the Milky Way (Credit: Enrique Mesa Photography/Getty)

First, he said, its position 100km off the coast of northern Africa means it is close to the equator, so you can see stars from both the northern and southern hemispheres – but in a temperate climate with placid weather patterns uncommon in the tropics.

Second, it’s very dark here, something that’s aided by an island-wide agreement to keep it that way, meaning all night-time lighting is either an orange hue (which doesn’t interfere with telescopes) or pointed down, at the ground.

But thirdly, and most importantly, is the wind. “Our trade winds are created by a high pressure system in the Azores, and travel more than 2,000km over the sea. When it hits our north shore, it’s crystal clear,” he said, noting that these smooth and slow winds creates an atmosphere where the stars are especially clear from the ground, both through a telescope and to the naked eye. “Here, we have the lowest turbulence on the planet.”

tải xuống (1)
Where land and clouds collide (Credit: Tim Johnson)

And all this is justly recognised: in 2012, La Palma became the world’s first Unesco recognised Starlight Reserve. The island is also home to one of the most important observatories on the planet: a place that houses 16 massive telescopes – including the largest one in the world.

It’s only recently that visitors have been able to partake in these excellent stargazing opportunities. For years, the observatory was a closed research facility, except for a handful of open days that attracted thousands of curious people. But with the observatory normalizing regular visits in 2013, the infrastructure – including a recent increase in guided starlight tours – is now in place for earthbound visitors to touch distant galaxies.

Down on terra firma, I was shown around the island by Sheila Crosby, an affable Englishwoman with a touch of the mad scientist, who worked at the Observatorio del Roque de los Muchachos for years as a software engineer. She’s also a certified starlight guide, and as she drove us somewhat erratically up and down La Palma’s winding roads, she started to explain the connections between land and sky, geology and astronomy – and how the island’s unique structure has created a number of Earth-bound wonders: for one, a cloud waterfall.

RoboCup Standard Platform League: Goal Detection

Abstract—This paper presents a new fast and robust goal detection system for the Nao humanoid player at the RoboCup standard platform league. The proposed methodology is done totally based on Artificial Vision, without additional sensors. First, the goals are detected by means of color based segmentation and geometrical image processing methods from the 2D images provided by the front camera mounted in the head of the Nao
robot. Then, once the goals have been recognized, the position of the robot with respect to the goal is obtained exploiting 3D geometric properties. The proposed system is validated with real images by emulating real RoboCup conditions. Index Terms—RoboCup and soccer robots, Artificial Vision and Robotics, Nao humanoid, Goal Detection, Color Segmentation, 3D geometry.

A. Detection Based on Geometrical Relations
The first proposed method is intended to be robust and fast in order to overcome some of the usual drawbacks of the vision systems in the RoboCup, such as the excessive dependency of the illumination and the play field conditions, the difficulty in the detection of the goal posts depending on geometrical aspects (rotations, scale,. . . ) of the images captured by the robots, or the excessive computational cost of robust solutions based on classical Artificial Vision techniques. The proposed
approach can be decomposed into different stages that are described in the next subsections.
1) Color calibration: The first stage of the proposed method consists of a color calibration process. Thus, a set of YUV images acquired from the front camera of the Nao robot is segmented into regions representing one color class each.
Fig.2 shows an example image captured by the Nao robot containing a blue goal.
The segmentation process is performed by using a k-means clustering algorithm, but considering all the available centroids as initial seeds. Thus, in fact, seven centroids are utilized, corresponding to the colors of the ball (orange), goals (yellow and blue), field (green), robots (red and blue) and lines (white).
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The first problem addressed in this project is the segmentation of the image to separate the object (in this case the goal) from the background. As the RoboCup rules specify that goals are painted either sky blue or yellow, a simple segmentation solution based on color has been chosen.  It can be assumed that normally no other objects of similar colors will be present in the picture taken from the camera. If a similar color object is indeed present, it will corrupt the segmentation result, and depending on is size or shape it can render the method inoperative.

Therefore, proper tuning of the segmentation parameters is mandatory to avoid these situations. The following figure shows the result of an ideal segmentation of a camera image.

Ideal segmentation (right) of the goal in the camera image (left).Edge_detection

Edge detection
Once the image is segmented to separate the goal from the background, one can attempt to extract the edges of the resulting binary image. This is done to reducethenumberoflinesdetectedinthefollowingHoughtransformstage, while retaining the structural information of the goal.

Ideal edge detection (right) of the segmented image (left).

Edge_detection1