University of Notre Dame
Aerospace and Mechanical Engineering

ME 469: Introduction to Robotics
Homework 7

B. Goodwine
Spring, 1999
Issued: April 9, 1999
Due: April 14, 1999


Consider the following image. 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. (0 points) Download the photographs and convert them from jpeg format to PGM (ascii) grey-scale format.
  2. (20 points) Write and submit a program to produce a histogram of grey-scale values for each photograph. Plot and submit the histograms.
  3. (10 points) Write and submit 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 and submit the resulting black and white images. This is the same as the sample code from class.
  4. (20 points) Write and submit a program to do signature analysis. Plot and submit the histograms corresponding to the vertical, horizontal, lower-left to upper-right and upper-left to lower-right projections.


Last updated: April 9, 1999.
B. Goodwine (jgoodwin@nd.edu)