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mmdrobotop - Detect marks on a robot.

Description
The input-image is a gray-scale image of a rounded-shaped robot, viewed by a camera mounted on the ceiling. The procedure detects two white marks on top of the robot. This is a typical example of application of the top-hat operator in image segmentation.

Reading

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

a = imread('robotop.tif');
mmshow(a);
image
(a)

Open top-hat

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

b = mmopenth(a,mmsebox(4));
mmshow(b);
image
(b)

Opening

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

c = mmopen(b,mmsebox);
mmshow(c);
image
(c)

Thresholding

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.

d = mmthreshad(c,100);
Warning: Converting image from scalar to uint8.
mmshow(a,d);
image
(a,d)
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