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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
• 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
Find interested attributes
• Form Factor (FF.) = where
A = area, and P = perimeter
If FF. is or close to 1 the circle object
P
A4
= 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
New Eigen Value (let C4.5 learn it)
• Eigen Value ratio (Eig)
Eig = 1st Eigen value / 2nd Eigen value
EigEig
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