University of Notre Dame
Aerospace and Mechanical Engineering

ME 469: Introduction to Robotics
Homework 5

B. Goodwine
Fall, 1998
Issued: October 28, 1998
Due: November 4, 1998


Consider the following two images. The purpose of this homework is to develop software that can distinguish blurry photographs of objects that may appear similar. You can write the programs using any programming language that you want.

  1. Download the photographs and convert them from jpeg format to PGM (ascii) grey-scale format.
  2. Write a program to produce a histogram of grey-scale values for each photograph. Plot the histogram.
  3. Write a program to implement a thresholding scheme. For pixels with values greater than the threshold value, assign a value of 255, and for pixels with values less than the threshold value, assign a value of zero. Use the histogram from the previous problem to determine a good threshold value. Plot the resulting black and white image.
  4. Write a program to do signature analysis. Plot the histograms corresponding to the vertical, horizontal, lower-left to upper-right and upper-left to lower-right projections.
  5. Write a program to implement connected components labeling using the algorithm given in class.


Last updated: October 28, 1998.
B. Goodwine (jgoodwin@nd.edu)