We had a great deal of success last year by locating landmarks on the field and then lining up with them and then launching the balls. We think we can do the same this year. To assist us though we are going to use a "photon cannon" aka flashlight
http://www.amazon.com/8066-T6-Rechar...ts+1000+lumens
Like the three days robot builders guys. From our experience this is much faster and more reliable than computer vision processing. There are too many variables to account for that a human can adapt to that a computer without an extensive vision processing program can do as well or fast. Just my two cents...