Wheeled Mobile Robotics

Image Features

Several nice properties of the camera, computational capabilities of modern computers, and advances in the development of algorithms make the use of a camera an extremely appealing sensor for solving problems in robotics. A camera can be used to detect, identify, and track observed objects in the camera’s field of view, since images are projections of the 3D objects in the environment (see Section 5.2.4). The digital image is a 2D discrete signal that is represented with a matrix of quantized numbers that represent either the presence or absence of light, light intensity, color, or some other quantity. The main types of images are color (Fig. 5.22A), grayscale (Fig. 5.22B), and binary (Fig. 5.22C). In machine vision grayscale ...