When it comes to describing a blob we can do more than just area, centroid position and bounding box. By looking at second order moments we can compute an ellipse that has the same moments of inertia as the blob, and we can use its aspect ratio and orientation to describe the shape and orientation […]
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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. […]
Now let’s talk about the sense of vision, something we use almost all the time and practically take for granted.
We can also describe a blob by its contour or perimeter. Let’s look at how we determine the length of a blob’s perimeter using crack code and chain code. We can use the perimeter length to determine another scale and invariant shape parameter called circularity which indicates how compact, or circle-like, the blob is.
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.
For a redundant robot the inverse kinematics can be easily solved using a numerical approach.
Let’s look at numerical approaches to inverse kinematics for a couple of different robots and learn some of the important considerations. For RTB10.x please note that the mask value must be explicitly preceded by the ‘mask’ keyword. For example: >> q = p2.ikine(T, [-1 -1], ‘mask’, [1 1 0 0 0 0])
The pose of the working part of a robot’s tool depends on additional transforms. Where is the end of the tool with respect to the end of the arm, and where is the base of the robot with respect to the world?
Mathematical morphology comprises operations such as erosion, dilation, opening and closing. Let’s look at how we can use different shaped structuring elements to solve complex problems.
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 […]