Colored Ball Following

1. Object Centroid Extraction

• HSV Conversion: Transforms input BGR video frames into HSV (Hue, Saturation, Value) coordinates to ensure robust color segmenting under variable lighting.
• Binary Masking: Filters pixels matching range (e.g. RED to white, others to black).
• Contour Detection: Detects edges, corners, and contours to identify the largest contour group (largest circle).
• Circularity Filtering: Validates shape geometry using circularity threshold formula: C = 4 * pi * A / P² (where A is Area, P is Perimeter) to distinguish spheres from arbitrary geometric blocks.
• Tracking Loop: Extracts the center coordinate (x, y) and sphere radius to calculate error vectors, driving pan-tilt camera servos.