Image Processing Reference
In-Depth Information
Table 13.1
An example of the information sent to the robot after an image has been processed.
X
c
and
Y
c
are the x and y positions of the center of the BLOB
Type
D
B
D
D
F
C
···
X
c
780
1099
599
1363
1186
843
···
Y
c
277
277
364
427
423
434
···
of particular coins in particular locations. The consequence was that such coins
could not be accepted as coins since their circularity would be too far from one. It
happened rarely, so they didn't care too much about this problem. Besides, the next
time the table was vibrated the problematic coins would change position and hence
the problem disappeared. Happy with their image processing algorithm they handed
over the code to Fred who then merged it with his own system for controlling the
robot. The day after he started the system.
13.6 Postscript
Some months later Mick and SB ran into Fred in the local bookstore.
“Hey guys, been meaning to talk to you for some time, but been so busy.”
“No problem, how did it go with the robot?” SB asked.
“She works like a charm. I filled up the box each morning and when I returned
from work all the coins from the box were placed in the respective small boxes
according to their type. So after a month or so all the coins were sorted.”
“So you packed the robot away then?” Mick asked.
“Well, when I turned her off I kind of got the feeling I have killed her,” Fred said
withaweirdvoice,“soIturnedheronagain...”.SBandMicklookedateach other.
“Do you also talk to it?” Mick asked smiling.
“Well, no, of course not,” Fred said in a nervous voice, “I just go sit in the base-
ment at nights so she is not getting lonely, but never mind, now I have found a new
job for her. I have bought ten big boxes of old stamps and I want her to sort them.
Do you have plans for the weekend?”
