WEBVTT
Kind: captions
Language: en

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this<00:00:00.399><c> video</c><00:00:00.799><c> shows</c><00:00:01.120><c> the</c><00:00:01.280><c> line</c><00:00:01.520><c> following</c>

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this video shows the line following
 

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this video shows the line following
behavior<00:00:02.480><c> of</c><00:00:02.560><c> the</c><00:00:02.720><c> robot</c>

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first<00:00:07.759><c> the</c><00:00:08.000><c> image</c><00:00:08.320><c> is</c><00:00:08.400><c> given</c><00:00:08.720><c> as</c><00:00:08.960><c> input</c><00:00:09.280><c> to</c><00:00:09.440><c> the</c>

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first the image is given as input to the
 

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first the image is given as input to the
algorithm<00:00:10.080><c> that</c><00:00:10.320><c> identifies</c><00:00:10.880><c> the</c><00:00:11.040><c> centroid</c>

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algorithm that identifies the centroid
 

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algorithm that identifies the centroid
of<00:00:11.599><c> a</c><00:00:11.679><c> line</c><00:00:12.000><c> closer</c><00:00:12.320><c> to</c><00:00:12.480><c> the</c><00:00:14.920><c> robot</c>

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of a line closer to the robot
 

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of a line closer to the robot
second<00:00:16.960><c> the</c><00:00:17.199><c> algorithm</c><00:00:17.760><c> corrects</c><00:00:18.160><c> the</c><00:00:18.320><c> course</c>

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second the algorithm corrects the course
 

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second the algorithm corrects the course
based<00:00:18.960><c> on</c><00:00:19.039><c> the</c><00:00:19.199><c> offset</c><00:00:19.680><c> between</c><00:00:19.920><c> the</c><00:00:20.080><c> centroid</c>

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based on the offset between the centroid
 

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based on the offset between the centroid
and<00:00:20.720><c> the</c><00:00:20.800><c> center</c><00:00:21.119><c> line</c><00:00:21.359><c> of</c><00:00:21.439><c> the</c><00:00:21.680><c> image</c>

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in<00:00:27.760><c> the</c><00:00:28.000><c> end</c><00:00:28.480><c> the</c><00:00:28.640><c> robot</c><00:00:29.119><c> is</c><00:00:29.279><c> able</c><00:00:29.439><c> to</c><00:00:29.599><c> follow</c>

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in the end the robot is able to follow
 

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in the end the robot is able to follow
reasonably<00:00:30.560><c> well</c><00:00:30.720><c> the</c><00:00:30.880><c> green</c><00:00:32.600><c> line</c>