mem380_04 - 1 MEM380 Fundamental Robotics II Winter 2010...

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Unformatted text preview: 1 MEM380 Fundamental Robotics II Winter 2010 Physics of Color MEM380: Fundamental Robotics I Fal 2009 1 Physics of Color and Color Calibration Connected Components Labeling Segmentation 1 2 6 5 4 3 7 8 9? 10? Recursive Labeling Algorithm Let I denote the image. Step 1: Convert I to B , Step 2: Let B = - B , label = 0 1. for i = 1:rows 2. for j = 1:columns 3. if B(i,j) == -1 4. label = label + 1; 5. Add (i,j) onto Stack and set B(i,j) = label; 6. 7. while (Stack is not empty) 8. Remove pixel P from Stack 9. Let M = neighbors of P whose pixel value = -1; 10. Add M onto Stack; 11. Set B(M) = label; 12. end 13. end 14. end Algorithm Pictorially 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1 -1-1 -1-1 -1 -1 -1-1 -1-1 -1 -1 -1-1-1 -1-1 -1 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1 (2,3) (3,3) (3,2) (3,1) 2 Recursive Labeling Algorithm Let I denote the image. Step 1: Convert I to B , Step 2: Let B = - B , label = 0 1. for i = 1:rows 2. for j = 1:columns 3. if B(i,j) == -1 4. label = label + 1; 5. Add (i,j) onto Stack and set B(i,j) = label; 6. 7. while (Stack is not empty) 8. Remove pixel P from Stack 9. Let M = neighbors of P whose pixel value = -1; 10. Add M onto Stack; 11. Set B(M) = label; 12. end 13. end 14. end Result 1 1 2 2 1 1 1 1 2 2 1 1 1 1 2 1 1 1 1 2 1 1 2 2 Morphological Operators Structuring Elements ( S ) BOX(3,5) DISK(5) Basic Operators Translation X t of a set of pixels by a position vector t is given by X t = {x+t | x X} RING(5) Morphological Operators Dilation: Minkowski addition 1 1 1 1 1 1 1 1 1 3 Morphological Operators Erosion: 1 1 1 1 1 1 1 1 1 Morphological Operators Opening: Morphological Operators Closing: Region Properties Area Total # of pixels in the region of interest Centroid Perimeter Circularity...
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mem380_04 - 1 MEM380 Fundamental Robotics II Winter 2010...

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