Intro to Robotics

Homework 3

Lab 2, Group 4, SooHyun Jang

o Lab 2: Vision Lab

Mona Lisa & Mona Lisa Contrasted

MonaMona Contrast

Mona Lisa: Threshold 70

Mona threshold

Mona Lisa: Histogram

Mona Histogram

Letter "D"

D

Letter "D": Contrasted

D contrasted

Letter "D": Threshold 100

D threshold

Letter "D": Histogram

D histo

Budgie - To make sure the program contrasts the picture properly, I reduced the contrast of the original picture

Budgie

Budgie: Contrasted

Budgie contrast

Budgie: Threshold 130

Budgie thresh

Budgie: Histogram

Budgie histo

 

o Homework 3

Question 1:

a. 3x3 Mask

3x3 mask

b. This applied convolution to the image. By doing so, this particular mask blurs the image.

c. Yes, by blurring the image, we have lost information. With the "mean" image we have, we cannot recreate the exact image. This is because we don't know which pixel had what information previously just by looking at an average value.

d. 3x3 mask with weighted average, assuming that the particular pixel P is in the center of the mask.

3x3 with weight

Question 2:

Below image (drawn by me) shows all the calculation:

alien

 

As it can be seen in the image,

Martian is approximately 22.5 inch from the pathfinder.