Lecture 3
24-354 General Robotics
Fall-05. Prof. Howie Choset

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• Robot uses
  • The "3 D's": Dirty, Dull, and Dangerous
  • also cabability and the silent "E": Entertainment and Education
• Overview from Last time
  • Sense ---> Plan ---> Act
  • Sense: Vision (Powerpoint reference availiable here.)
  • Projection from real world color or grey scale image
  • Convert to Binary Image
• Edge Detection
  • Scanline: one row of an image
  • First Derivative: since the image is a discretization we can just use the difference of neighboring pixels
  • Can threshold the first derivative to find vertical edges in the image (see picture below)
  • The width of the derivative corresponds to the sharpness of the edge
• Also, we will hand out Hw 3