Vision enhancement of line following robot using Wiener filter and morphology

Abstract

Line following robot (LFR) plays an important rule in the recent industries, where it can carriers the products from one manufacturing plant to another which are usually in different buildings or separate blocks. This paper presents preliminary development of the LFR which use a normal laptop with a web cam to guide itself through a track. The designed LFR is insensitive to environmental factors such as darkness, lighting, camera distortion or line color. This development is based on computer vision enhancement using digital image processing. It is accomplished through the following stages: Firstly, the acquired RGB image using the web cam is converted to another color coordinates for testing and comparing to choose the best color space. After that, the image contrast is enhanced using adaptive histogram equalization, and then the image is filtered using wiener filter. Finally morphological operations are carried out. The results are evaluated qualitatively and quantitatively from the points of peak signal-to-noise ratio (PSNR), entropy, and image smoothness. The results show that the proposed method is promising for vision enhancement of LFR.