Image processing is required to solve the fundamental problem of determining the location of the target and the position of the gun with respect to the target. The approach that we used for the experiment, in the lab setting, was to utilize a marked static target. The target that we used for our experiment was a bulls-eye that had a yellow circular center, circumscribed by red, blue, black and white circles, radially outward in that order. All five circles were concentric in nature. The iCub robot had a stereo vision system with auto-calibration capability, making the alteration of the camera’s intrinsic parameters unnecessary.