| | 48 | Our process to get from camera images to information useful for navigation requires several steps |
| | 49 | of processing and reprocessing. Our first step is to find an aproximation of texture using a sobel |
| | 50 | filter. We then use a color histograming classifier, based on an assumed safe area of grass, to |
| | 51 | classify pixels in the image as grass and not grass. The texture data from the sobel is combined |
| | 52 | with the data of which pixels are not grass to determine which are line and which are obstacle. |
| | 53 | The line pixels are further processed using a hough transform to find the actual lines of the course. |
| | 54 | The objects are then tranformed into real world coordinates by performing a perspective |
| | 55 | transform on the bottom pixels of the objects. |
