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Fri, 17 Oct 2008
edge 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 ...