So far we have taken a linear combination of pixels in the box around the input pixel, but non-linear operations like sorting and ranking the pixel values also prove to be very useful. We look at the median filter which is much better at removing salt and pepper noise from image than simple smoothing.
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Let’s recap the important points about spatial operators. Linear operators can be used to smooth images and determine gradients. Template matching can be used to find a face in a crowd. Non-linear operators such as rank filters can be used for noise removal, and mathematical morphology treats shapes according to their compatibility with a structuring […]
A color camera has many similarities to the human eye. Instead of three types of cone cells a uniform silicon sensor uses a pattern of three color filters known as a Bayer filter.
Let’s recap the important points from the topics we have covered about light, wavelength, spectrums, light sources, reflection, reflectance functions, cone cells, tristimulus and chromaticity space.
Another non-linear operation on the pixels in the box around the input pixel is to test whether they match a reference shape. This is a very powerful and useful approach to cleaning up noisy binary images known as mathematical morphology and objects in the image are treated according to their compatibility with a structuring element. […]
A robot manipulator may have any number of joints. We look at how the shape of the Jacobian matrix changes depending on the number of joints of the robot.
The Jacobian matrix provides powerful diagnostics about how well the robot’s configuration is suited to the task. Wrist singularities can be easily detected and the concept of a velocity ellipse is extended to a 3-dimensional velocity ellipsoid.
A more efficient trajectory has a trapezoidal velocity profile.