mmdRobotop
Detect marks on a robot.

The gray-scale image of the robot top view is read.

Image a = mmReadgray("robotop.tif");
mmShow(a);

a

It detects white regions smaller than a square of radius 4.

Image b = mmOpenth(a,mmSebox(4));
mmShow(b);

b

It removes white objects smaller than a square of radius 1.

Image c = mmOpen(b,mmSebox());
mmShow(c);

c

It detects the robot markers. This is a very robust thresholding (i.e., the result is not sensible to small changes in the value of the threshold parameter). The original image is overlayed by the detected robot markers.

Image d = mmThreshad(c,100);
mmShow(a,d);

a,d