Lecture 2
24-354 General Robotics
Fall-05. Prof. Howie Choset

---

---

• Attendance and forming of teams
• Homework 2 Discussion
• Lab 1 PPT
• Vision (Powerpoint reference availiable here.)
  • Projection: Three-dimensions to two-dimensions
  • Information: Pixels and resolution
  • Binary Images: Pixels are either black or white. Why are they useful?
  • Thresholding: A way to create a binary image
  • Histogram: A method to determine a threshold
  • Contrasting: Improve the quality of your image.
  • Region Filling (Blob Coloring or Wavefront)
    • Use to separate binary objects in an image
    • Step through the image until a '1' is found
    • Assign all neighbors (4 or 8-connected) the object number until there are no more neighbors
    • Increment the object number and continue stepping through image for another '1'
• Homework 1 Discussion
• More C and Emacs