mmdrobotop
Detect marks on a robot.

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

a = mmreadgray('robotop.tif');

mmshow(a);

a

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

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

mmshow(b);

b

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

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.

d = mmthreshad(c,100);

Warning: upcasting image from scalar to uint8

mmshow(a,d);

a,d