Abstract: A calibration method for a mobile automation apparatus includes: navigating the apparatus to a calibration location containing a reflector; controlling a camera of the apparatus to capture an image depicting a first set of markers affixed to the reflector in first predetermined positions defining a reflector frame of reference, and virtual images of a second set of markers mounted on a chassis of the apparatus in second predetermined positions defining a chassis frame of reference, and reflected in the reflector; detecting respective image positions of each marker from the first and second sets of markers; based on the image positions of the first and second set of markers, the first predetermined positions, and the second predetermined positions, determining calibration parameters configured to convert between coordinates in a camera frame of reference and coordinates in the chassis frame of reference; and updating calibration data of the camera with the calibration parameters.

Abstract: An apparatus and methods for modifying gradation in an image frame determine a blend factor indicating a first weighting associated with a previously processed portion of the image frame. The apparatus and methods generate a weighted value associated with a current region of the image frame based on the current region of the image frame and based on applying the first weighting to the previously processed portion of the image frame so as to modify the gradation in the image frame.

Abstract: An apparatus and methods for modifying gradation in an image frame determine a blend factor indicating a first weighting associated with a previously processed portion of the image frame. The apparatus and methods generate a weighted value associated with a current region of the image frame based on the current region of the image frame and based on applying the first weighting to the previously processed portion of the image frame so as to modify the gradation in the image frame.

Abstract: The invention relates to the field of document authentication and more specifically to an apparatus and method for validating an enhanced feature contained in a document under analysis. More specifically, a cross plane comparison is used within a document comparison system to validate the authenticity of a security document. Two images are extracted from two color-planes (e.g. visible light and infrared) of a specified page of a security document and the presence/absence of a pattern or text in each plane is determined. In operation, the security document is exposed to two light sources and grey scale images are extracted. Binary images are then obtained from the grey scale images by filtering each grey scale image and then thresholding each grey scale image. The difference between the two binary images is then calculated to determine if a pattern or text is present in both planes or only in one plane.

Abstract: The invention relates to the field of document authentication and more specifically to an apparatus and method for validating an enhanced feature contained in a document under analysis. More specifically, a cross plane comparison is used within a document comparison system to validate the authenticity of a security document. Two images are extracted from two colour-planes (e.g. visible light and infrared) of a specified page of a security document and the presence/absence of a pattern or text in each plane is determined. In operation, the security document is exposed to two light sources and grey scale images are extracted. Binary images are then obtained from the grey scale images by filtering each grey scale image and then thresholding each grey scale image. The difference between the two binary images is then calculated to determine if a pattern or text is present in both planes or only in one plane.

Abstract: Systems and methods for assisting in the determination of the authenticity of security documents based on known characteristics of similar reference security documents. The system and methods use digital processing to capture a digital image of the document being examined and they use a feature localization or detection technique to search for a specific feature in the document based on a stored image of a similar feature from a reference document. Once the feature on the subject document has been found, the digital image of the localized feature is transformed, by applying mathematical transforms or other image/mathematical operators, such that the result will have distinguishing characteristics that can be derived or analyzed. When the distinguishing characteristics have been analyzed, these are then compared to the stored distinguishing characteristics of similar features from reference documents.