“…Besides being fast to calculate, the intended resulting image must be absent of noise as much as possible, with well defined contours and be tolerant to the motion blur introduced by the movement of the ball and the robots. Some popular edge detectors were tested, namely Sobel (Zin et al, 2007;Zou et al, 2006;Zou and Dunsmuir, 1997), Laplace (Blaffert et al, 2000;Zou and Dunsmuir, 1997) and Canny (Canny, 1986). According to our experiments, the Canny edge detector was the most demanding in terms of processing time.…”