16:311 : Introduction to Robotics

Homework4
Sidra Alam

Individual Assignment

Convolution

Image1 & mask1

Image1 & mask2

Image1 & mask3

Image2 & mask1

Image2 & mask2

Image2 & mask3

(a) What do these masks do to the input image?
Masks 1, 2 & 3 act as an edge detection filter. They enhance the edges by detecting where sharp changes in intensity occur.
(b) What are the advantages of using a small mask? Why would you want to use a large mask?
You get more localisation in case of a small mask i.e. the intensity value of the neighboring pixels are taken in to account very precisely.
With localisation, there is a higher chances of noise in the resulting image, which would result in detection of false edges due to noise.
A larger mask would reduce this noise.
(c) Suppose you wanted to identify the horizon in images at sea. What mask might you use to do this?
To detect the horizon, the sobel mask can be used which is
-1 -1 -1 -1 -1
-1 -1 -1 -1 -1
0 0 0 0 0
-1 -1 -1 -1 -1
-1 -1 -1 -1 -1

Program Code

Image Processing