16-311 Intro to Robotics s13

Homework 4

Aaron Anderson (aaanders)

Convolution

The original images below were convolved with masks mask1.pgm, mask2.pgm, and mask3.pgm. The source code of the program which generated the following images is located here.

Output of convolution program

Image 1 convolved with Mask 1

Image 1 convolved with Mask 2

Image 1 convolved with Mask 3

Image 2 convolved with Mask 1

Image 2 convolved with Mask 2

Image 2 convolved with Mask 3

Answers to short questions

  1. These masks are vertical edge detection masks; they blur the image but keep the vertical edges distinct.
  2. Small masks are good because the edges are more distinct. Larger masks blur the image, but can detect subtler edge changes.
  3. A large horizontal edge detection mask would be good for this scenario (detecting the horizon at sea). Something like
    1 1 1
    0 0 0
    -1 -1 -1
    This allows for detecting a subtle horizontal edge in the photo, suitable for finding the horizon.
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