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The Orange Objects Classification
My process
• Get the image from the robot
• Mark the position of the ball in each image
• Calculate all 7 attributes
– Width– Height– Area– Perimeter– Form Factor
– Distance– Eigen Value
Original Image
Mark the position of the ball
HUE color model
Orange objects in HUE
Discard Big objects
Find interested attribute
• Width, Height, and Area
Width
HeightArea
• Perimeter = ( * # of Diagonal lines)
+ # of Straight lines
From this image:
# of Diagonal line
= 45 lines
# of Straight line
= 80 lines
Perimeter = 143.6396
Find interested attributes
2
• Perimeter
= 18* +28
= 53.4558
2
W H A P FF. Eig Dist.A P FF. Eig Dist.
Find interested attributes
• Form Factor (FF.) = where
A = area, and P = perimeter
If FF. is or close to 1 the circle object
P
A4
Form Factor (FF.)
Blue Yellow
Area 121 121
Perim. 40 44
FF. 0.975 0.886
How to calculate the perimeter
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
= 1 diagonal line and 1 straight line
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
= 1 diagonal line
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
= 2 diagonal lines
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
= 1 straight line
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
= 2 straight lines
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
1 2 3
6 7 8
11 12 X
5
10
14
4
9
13
15 16 17 1918
20 21 22 2423
Old Eigen Value
We set the threshold value as
EigVal1> (0.75*EigVal2) It’s a ball
New Eigen Value (let C4.5 learn it)
• Eigen Value ratio (Eig)
Eig = 1st Eigen value / 2nd Eigen value
EigEig
Find interested attributes
• Centroids and Distance
C4.5 result
1st combination
2nd combination
986 986
1545
986 986
1545
New training Data New test Data
Training DataTest Data
Decision tree (7 attributes)size after pruning: 59 nodes
FF
Eig W
nb Dis
W Dis
nb FF
nb H
Eig A
nb b nb b
H FF
nb FF
nb H
b W
b nb
nb Dis
nb Eig
b Eig
nb b
Dis Dis
nb FF
b Dis
nb H
Dis W
nb b A Dis
b A
b nb
nb b
b Dis
b nb
<=306.358 >306.358
<=29 >29
>14
<=0.8879
<=0.4753 >0.4753
<=0.7965 >0.7965
<=64 >64
<=0.5609 >0.5609 <=4468 >4468
<=357.142 >357.142
<=10 >10
<=0.8379 >0.8379
>13 <=13
<=14
<=0.8812 >0.8812
>380.495 <=380.495
<=0.5262 >0.5262
<=0.6013 >0.6013
>0.8879
<=16 >16
<=338.956 >338.956
>0.9053 <=0.9053
>379.228 <=379.228
<=9 >9
<=376.788 >376.788 <=13 >13
>85 <=85
<=80 >80
<=364.569 >364.569
<=362.988 >362.988
<=370.901 >370.901
Conclusion
• Gained more experiment with machine learning, C4.5
• More practice with Matlab
• Perimeter
= 18* +28
= 53.4558
2
W H A P FF. Eig Dist.A P FF. Eig Dist.
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