1. 16-311: Introduction to Robotics Lab 2 – Robot Vision January 21, 2015 Sarah Tan 16-311 Introduction to Robotics – Lab 2, p.1

2. 16-311 Introduction to Robotics – Lab 2, p.2 Thresholding Making a binary, black-and-white image. Given an image and a threshold value, Set all pixels of value ≤ threshold to 0 Set all pixels of value > threshold to 255 (or just 1) 0 128 255

3. 16-311 Introduction to Robotics – Lab 2, p.3 Thresholding threshold(image, 75); 0 128 255 75 Every pixel with value higher than 75: set to 255 Every pixel with value lower than 75: set to 0

4. 16-311 Introduction to Robotics – Lab 2, p.4 Thresholding Good for removing noise and artifacts. Of course, overdoing it would lose you precious details. 0 128 255 0255

5. Segmentation Segmentation: A program that segments a binary image into connected components Algorithm – Double Raster Scan in Notes http://www.vision.ee.ethz.ch/teaching/sada/sadalink/539.jpg

6. 16-311 Introduction to Robotics – Lab 2, p.6 What you’re doing Building a vision pipeline to estimate the distance to two targets Targets have tennis ball in known square pattern Steps: - Thresholding - Segmentation - Filtering / Data Association - Determining Distance by Scale and Perspective

7. 16-311 Introduction to Robotics – Lab 2, p.7 Example 2ft away 1 4 3 2

8. 16-311 Introduction to Robotics – Lab 2, p.8 Grading Part 1 (10 points) Matlab and Image Basics (each question should be done in 2-3 lines of Matlab Code) Take images of each of the target 2,4,8,16 ft away Part 2 (90 points) Implement 3 functions Thresholding, Segmentation and Filtering, Determining Distance to Target Use 3 functions on 8 Images from Part 1 to get segmented images and estimation on Distance to Target Clear and Well-documented code may improve your grade

9. 16-311 Introduction to Robotics – Lab 2, p.9 Important stuff Due date Tuesday, January 27th Handin Handin a zip file of your submission on blackboard. Details can be found on the course website and lab pdf Start this lab EARLY!

10. 16-311 Introduction to Robotics – Lab 2, p.10 Need help? Check out our piazza page! TA Office Hours In the REL See website for the schedule Email TA dlist (16311-sp15-tas@lists.andrew) [Sarah Tan ]