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Source: http://www.popsci.com/technology/art...-just-one-week
http://www.youtube.com/watch?v=HMx1xW2E4Gg
In order to get the PR2 to make pool-shark-worthy shots, the team had to figure out how to make it recognize both the table and the balls, things that come easily to all but the thirstiest pool hall patrons. The PR2 used its high-res camera to locate and track the balls and to orient itself to the table via the diamond markers on the rails. It further oriented itself by identifying the table legs with its lower laser sensor.
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