Edges Extraction for Robotic Application
Building the Cantata Workspace
To build and experiment a workspace that performs edges extraction:
- Select the $MMACH/viff/block1.xv image;
- Visualize the image.
- Building the markers:
- Remember our goal is to mark the whole block and each face.
- Use the merge paths (use the original image as input) in the control option to initialize a procedure. This is a little trick you will see soon why is it for.
- Use the Morphological Threshold to extract all the block. Maybe you have to apply an openings, dilation or erosion to get your result.
- Use similar procedures to extract each face of the block.
- Use the Extended Union to combine all individual markers.
- Performing the filtering and watershed:
- Take the Morphological Gradient of the original image using a complete 3X3 structuring element.
- Filter its output with Homotopy using the markers you made as the second input.
- Apply the Watershed to the last result using connectivity 8 and the option limited watershed true (this will force the operator not to use the borders of the image).
- Apply a Morphological Threshold to extract only the watersheds.
- Visualize the result of the watershed.
Exercises
- Test if your workspace (without changing any parameter) is adequate to extract the edges of images block1.xv and block2.xv. If it is not adequate, improve the operator that you have designed to extract the markers in such way that it gives good markers for both images.
- Test if your workspace (without changing any parameter) is adequate to extract the edges of images block1, block2.xv and block3.xv. If it is not adequate, improve the operator that you have designed to extract the markers in such way that it gives good markers for all the three images.