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Sun, 19 Oct 2008
combining color segmentation with edge detection
Continuing the exploration of edge detection algorithms for the SRV-1 / SVS firmware, we finally had a chance to explore an earlier idea of combining color segmentation with edge detection as a possibly richer approach to feature extraction. Here are some preliminary results -
basic 16-color segmentation:
16-color segmentation combined with edge detection:
There results are very encouraging - scene features stand out much more strongly with the addition of edges. Note that for edge detection, we are still using just one horizontal and one vertical comparison (1x3) rather than a full 3x3 convolution kernel. The 3x3 approach didn't actually provide significantly better results and computation was a lot slower.
The discussion of this effort continues here -
"Surveyor Robotics Forum: new firmware with edge detect: srv-blackfin-101708"
Next step is to use this approach to begin building depth maps with the SVS.
Posted Sun, 19 Oct 2008 17:40 | HTML Link | see additional stories ...
Fri, 17 Oct 2008edge detection for Surveyor SRV-1 / SVS
A new test version of firmware with edge detection has been posted. Download link and discussion are found here -
"Surveyor Robotics Forum: new firmware with edge detect: srv-blackfin-101708"
This is just a first pass using a somewhat modified Sobel edge detector. Note that edges which are primarily horizontal will appear as cyan, while edges which are primarily vertical will appear as orange. We could take an even more aggressive approach to classification along the lines of a Canny edge detector, as we have the gradient information.
At the moment, this code only makes one horizontal and one vertical comparison (1x3) as opposed to the standard 3x3 convolution kernel, but it is comparing Y, U and V values as opposed to the standard Y-only approach. Changing to a 3x3 convolution on all 3 components will be tested next. Then we will be using this along with our color segmentation code to begin building depth maps for the SVS.
Posted Fri, 17 Oct 2008 17:54 | HTML Link | see additional stories ...