3 - Robot Sensing & Vision

Question 1

What are 6 steps to Robot Vision?

Answer 1

Acquisition
Pre-processing
Segmentation
Feature extraction
Pattern recognition
Robot control

Question 2

What are 3 requirements for algorithms in Robot Vision?

Answer 2

Fast (real-time)

Robust (to noise and changes in environment)

Non-stationary assumption (limited use of background subtraction methods)

Question 3

Name 3 colour models

Answer 3

RGB, CMY/CMYK, HSI

Question 4

What is colour slicing?

Answer 4

Highlighting a specific range of colours

Can be used to define a mask for further processing

Question 5

What is the Hough Transform?

Answer 5

A feature extraction technique use to find imperfect instances of objects within a certain class of shapes

Question 6

What are features in Robot Vision?

Answer 6

Compact, meaningful representation of the image

Question 7

What are good features?

Answer 7

Edges, corners, blobs, colours, textures

Question 8

Name 2 applications of features within robot vision?

Answer 8

Object detection/template matching

Scene reconstruction