” 辅导COMP 4180程序、 写作Mobile Robotics程序、PythonAssignment 1: Image Processing and ComputerVision (20%)COMP 4180 Intelligent Mobile RoboticsFALL TERM 2020Release Date: 17 September 2020Due Date: 13th October 2020, 4 PM (UTC -6 Central Time)ContentIn this assignment, you will use the OpenCV 3.3x, a standard vision library to develop a visionmodule to support capturing and Manipulation of images and videos. This vision module will becarried over from assignment to assignment as I mentioned in class. There could be severalsolutions to these open-ended problems. So general assessment will not only be based on theoutcomes but also on Functionality, efficiency, and style, e.g. how elegant your code is.Object and Feature Tracking Using OpenCV LibraryImplement a feature detector that can reliably detect the feature point and recognise objects suchas obstacle, region of soccer field, goal, etc. in RoboCup Humanoid League our Simurosotcompetition. Motion Analysis and Object Tracking could be useful too.1Figure 1: SimuroSot Robo Challenge Obstacle AvoidanceFigure 2: Expected outputs.Tasks1. Download and install OpenCV 3.3.x in your Linux machine (Ubuntu 16.04).2. Download the sample POV images here.3. Preprocess the input image from the Streaming camera, converting it to different colourspace (RGB, HSV, grayscale), blurring, and detecting edges (each of these is a call to anOpenCV method such as Canny() for canny edge detector). Documentation on themethods can be found on the OpenCV site: https://docs.opencv.org/. 辅导COMP 4180作业、 写作Mobile Robotics作业4. [3%] Goal Detection: Write a subroutine called findGoal find the goal from the soccer fieldfrom the sample POV images, as shown in Figure 2. Hint: extract the green soccer fieldfrom the background such as the floor and surrounding. For example: return (x,y,area)5. [5%] Obstacle Detection: Write a subroutine called findObstacle to find the obstacles in thesoccer field as Shown in Figure 1 and 2. This subroutine should return the position (in 2Dspace) and size of the obstacle. You will need to use image processing methods such ascolour extraction, thresholding, Shape recognition, and Morphological operation. Hint: Youmay use ApproxPolyDP to detect the contour of the obstacles.6. [10%] Write another subroutine called drawField to detect lines segments in the soccer fieldand draw coloured lines to differentiate various region of the field such as goal lines(pink), touch line (blue), center circle (yellow), etc. to distinguish the output visuallyas shown in Figure 2. You need to implement a geometric approach based on line segmentdetector fast line detector, And/or corner detector. Hint: Hough Line Transform is tooexpensive.7. [2%] Write a 2-page report (11-point, Arial, single-space) to explain the implementation andresults based on task 4 to 6. Include some of image processing outputs as an imagepipeline in your report.8. Make sure your codes are well commented in order to obtain full marks.9. Machine learning approach is a plus!SubmissionThis assignment Shall be done individually.You must submit all parts of the assignment before the due date and time. Create a zip or tgzarchive which includes All source code of your project. Your submission should extract into adirectory called course number_a1student_number.Write a README file to explain anything you feel is necessary or important about your submission.This may include special features/bugs of your program. Describe what parts of the assignmentyou implemented. It is in Your interest to simplify the job of the marker.3Submit/upload the archive to me via UMLearn. You have to agree to the honestydeclaration on Checklist at UMLearn before the submission.如有需要，请加QQ：99515681 或邮箱：99515681@qq.com
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