This week I worked with dounia bakalem on 2D image processing algorithms in order to be used as input triggers for the Baxter robot. We mainly focused on the processes of taking a real life feed video and making a reference video that includes only white and black pixels - eliminating that way any light effects and imperfections of the capturing device. We also worked on methods that allow to establish the diameter of the ball that is shown on the image, based on an initial configuration.