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162 Autonomous Mobile Robots
(a)
L
L
H
Original
point W
D
(b)
FIGURE 4.5 The proposed digital landmark. (a) The format of the landmark. (b) An
example of the landmark.
we develop a simple region finding algorithm for extracting potential regions
from images being captured.
While scanning the lines, the program will count the edge pairs (a pair is
composed of a rising edge and a falling edge), and record the line sections
that contain more than four edge pairs. In a scan line, the program may record
more than one section if the pairs are further away from each other. The region
extraction module analyzes the line sections recorded and finds out the probable
regions based on the following assumptions:
• The line sections will gather closely in the digits region.
• The numbers of line sections in the digits region will not be less
than 10.
• The clearance between line sections in a digit region will be limited.
© 2006 by Taylor & Francis Group, LLC
FRANKL: “dk6033_c004” — 2006/3/31 — 16:42 — page 162 — #14
