Abstract: A method of detecting an edge within digitized images, said method comprising steps of: (a) obtaining said image in a digital form; (b) building a 3D graph of intensity distribution within said image; (c) finding Regions of Interest ROI in the image and subtracting out the background; (d) establishing edge lines within said image; establishing a resultant edge line for each ROI by averaging or maximizing the set of independently obtained edge lines corresponding to said plurality of criteria but that differ from each other by a margin increasing with a predetermined increment; and (f) generating at least one report presenting the quantitative and/or qualitative parameters in a form of accurate quantitative measurements and qualitative inferences regarding medical and general diagnosis of the images and patients utilizing one or more output modules.

Abstract: An image processing technique uses requirements for a geospatial distribution of image tie points for a triangulation of images. The images are correlated, thereby generating candidate tie points across the images. Statistical consistency checks are applied to the images to identify and dispose of the candidate tie points that are local outliers, and a geometric identification technique is applied to the images to identify and dispose of the candidate tie points that are global outliers. The candidate tie points that are not local outliers or global outliers are spatially down-selected such that the spatially down-selected candidate tie points satisfy the one or more requirements for the geospatial distribution.

Abstract: A method for determining a contour of an organ in an ultrasound image is performed by a processor in a base unit. The method includes detecting an organ within the ultrasound image; obtaining a centroid position for the organ; extending a set of radial lines from the centroid position beyond an expected organ boundary; determining cost values at candidate nodes on each radial line, of the set of radial lines, by applying costs along gradient vectors that are normal to a contour between adjacent nodes on different radial lines; and selecting a final organ boundary contour based on a cost function analysis of paths through the candidate nodes.

Abstract: A method of measuring people flow through a doorway using a low-resolution, low-cost infrared array is disclosed. The method includes reading a sequence of sensor data frames from the infrared array; determining a background temperature frame; determining whether sensor data frames include at least one person using noise filtering techniques; identifying at least one group of adjacent pixels corresponding to the at least one person; determining at least one location corresponding to the at least one person; and determining whether the at least one person is a same person as a person in a previous sensor data frame. Based on the matching of a same person through multiple sensor data frames, direction of movement and entry/exit events can be determined. The entry/exit events can advantageously be used to operate and HVAC system, security system, or other such system more efficiently and effectively.

Abstract: A computing machine managing a template manages a document format, a template, and a cluster generated on the basis of a classification result based on a position of the document in a feature space in such a manner that they correspond to one another; determines whether a cluster to which a target document can belong is present on the basis of a position, in the feature space, of the target document in a case of detecting an opportunity of generating a template of the target document; registers the template of the target document in a case of determining that the cluster to which the target document can belong is not present; generates a cluster corresponding to the registered template; and manages a document format of the target document, the registered template, and the generated cluster in such a manner that they correspond to one another.

Abstract: In some implementations, a device may detect edges in an image, and may identify, based on the edges, a rectangle that bounds a document in the image. The device may detect lines in the image, and may identify edge candidate lines by discarding one or more of the lines. The device may identify intersection points where lines, included in the edge candidate lines, intersect with one another. The device may identify corner candidate points by discarding one or more points included in the intersection points, and may identify a corner point included in the corner candidate points. The corner point may be a point, included in the corner candidate points, that is closest to one corner of the bounding rectangle. The device may perform perspective correction on the image of the document based on identifying the corner point.

Abstract: An image processing method and system, a storage medium and a moving system are provided, and the image processing method includes: obtaining a 2D depth array Dp having depth information of a target object; calculating to obtain a depth vector D=[d1, d2, d3, . . . , di, . . . , dn], in which an element di is an average value of elements of the ith row in the 2D depth array; calculating to obtain an edge determination vector ?D=[?d1, ?d2, ?d3, . . . , ?di, . . . , ?dn?1], in which an element ?di=|di?di+1|; calculating an average value d0=(|?d2??d1|+|?d3??d2|+ . . . +|?dn?1??dn?2|)/(n?2); and comparing an absolute value |?di??di+1| with d0 to identify an edge of the target object, in which in a situation where |?di??di+1| is greater than d0, it is determined that the elements of the ith row in the 2D depth array Dp correspond to the edge of the target object.

Abstract: A method for generating a vehicle environment view involves: capturing camera images with vehicle cameras on a vehicle body of a vehicle; and calculating of the vehicle environment view based on the camera images. In the vehicle environment view, a texture of a non-visible region of a ground surface located under the vehicle body and not visible to the vehicle cameras is calculated based on texture data of a visible region of the ground surface that is visible to vehicles cameras and surrounds the non-visible region.

Abstract: The present disclosure provides a method and a device for identifying a wrist, a method for identifying a gesture, electronic equipment and a computer-readable storage medium. The method includes: obtaining a first image, the first image including a hand and the wrist; binarizing the first image to obtain a binary image; extracting a partial image from the binary image, where the partial image is obtained by removing at least of finger information from the binary image; identifying a principal direction of the binary image based on the partial image, and determining a target direction perpendicular to the principal direction; and determining a target position in the binary image where the binary image matches a first wrist feature as a wrist position in the binary image according to the target direction.

Abstract: Various embodiments are generally directed to systems for summarizing data visualizations (i.e., images of data visualizations), such as a graph image, for instance. Some embodiments are particularly directed to a personalized graph summarizer that analyzes a data visualization, or image, to detect pre-defined patterns within the data visualization, and produces a textual summary of the data visualization based on the pre-defined patterns detected within the data visualization. In various embodiments, the personalized graph summarizer may include features to adapt to the preferences of a user for generating an automated, personalized computer-generated narrative. For instance, additional pre-defined patterns may be created for detection and/or the textual summary may be tailored based on user preferences. In some such instances, one or more of the user preferences may be automatically determined by the personalized graph summarizer without requiring the user to explicitly indicate them.

Abstract: Approaches are described for shape-based graphics search. Each graphics object of a set of graphics objects is analyzed. The analyzing includes determining an outline of the graphics object from graphics data that forms the graphics object. The outline of the graphics object is sampled resulting in sampled points that capture the outline of the graphics object. A shape descriptor of the graphics object is determined which captures local and global geometric properties of the sampled points. Search results of a search query are determined based on a comparison between a shape descriptor of a user identified graphics object and the shape descriptor of at least one graphics object of the set of graphics objects. At least one of the search results can be presented on a user device associated with the search query.

Abstract: A method for analysis of a digital image in order to determine a value relating to an amount of a substance shown in the image includes using a threshold to identify all pixels of the digital image above or below a certain intensity value in order to produce a first binary image. Texture filtering is used to identify regions of high texture in the digital image to produce a second binary image in which all regions of high texture are pixels with a first state. The first and second binary images are overlayed to produce a combined binary image. A value relating to the amount of the substance is determined based on the area of the combined binary image with pixels having the first state.

Abstract: The invention relates to a method for recognizing a raised object on the basis of images in an environmental region of a motor vehicle, comprising: capturing a first image from a first camera and a second image from a second camera, transforming the first and second images into a common reference system, forming gradients over pixel values of pixels along gradient lines in the transformed first and second images, summing gradients along parallel summation lines to form a gradient sum, determining a first pair of the maxima of the gradient sum in the transformed first image and a second pair of the maxima of the gradient sum in the transformed second image, recognizing the raised object, if at least one distance between the maxima of the first pair in the transformed first image deviates from a distance of the maxima of the corresponding second pair in the transformed second image.

Abstract: A method of controlling an additive manufacturing process in which a directed energy source is used to selectively melt material to form a workpiece, forming a melt pool in the process of melting, the method comprising: using an imaging apparatus to generate an image of the melt pool comprising an array of individual image elements, the image including a measurement of at least one physical property for each of the individual image elements; from the measurements, mapping a melt pool boundary of the melt pool; computing a geometric length of the melt pool boundary; and controlling at least one aspect of the additive manufacturing process with reference to the geometric length.

Abstract: An information processing apparatus includes a memory, and a processor coupled to the memory and configured to obtain a plurality of images of a subject captured at different timings, detect a feature point of the subject from each of the plurality of images, identify a movement locus of the feature point between the plurality of images, identify a center position of a circle having the movement locus as an arc, and determine a posture of the subject based on the identified center position.

Abstract: Systems and methods illustrated herein disclose error correction of a two-dimensional (2D) symbol. The systems and methods include reading, by a hardware processor, a plurality of codewords in the 2D symbol. Further, the systems and methods include identifying, by the hardware processor of, an optically ambiguous codeword of the plurality of codewords in the 2D symbol. The optically ambiguous codeword corresponds to a codeword with a minimum interior contrast level below a predefined minimum interior contrast level. Further, the systems and methods include correcting, by the hardware processor, errors in the optically ambiguous codeword based on, a location of the optically ambiguous codeword and an erroneous decoded value associated with the optically ambiguous codeword.

Abstract: Deep learning-based automatic gesture recognition method and system are provided. The training method according to an embodiment includes: extracting a plurality of contours from an input image; generating training data by normalizing pieces of contour information forming each of the contours; and training an AI model for gesture recognition by using the generated training data. Accordingly, robust and high-performance automatic gesture recognition can be performed, without being influenced by an environment and a condition even while using less training data.

Abstract: A system for detecting misalignment of a light fixture uses a gateway controller device to receive images captured by an aerial drone. The gateway controller will select a group of the images and, for each image in the group: identify a segment of an illuminated surface that is contained in the image; identify a light fixture that is configured to direct light to the segment; and determine whether the image contains content indicating that the light fixture improperly aligned. For any image that indicating that the light fixture is improperly aligned, the system will output a signal indicating that the light fixture requires recalibration.

Abstract: An image edge extraction device for an automated driving system is capable of extracting an image edge in a rapid manner. The device employs an image edge extraction method that includes: acquiring a grayscale image of a target image; calculating an edge magnitude and an edge angle of the grayscale image, so as to generate an edge magnitude image and an edge angle image; detecting an edge peak of the edge magnitude image in accordance with the edge angle image, so as to acquire each edge point of the edge magnitude image and acquire an edge peak detection result; and performing double-thresholding segmentation on the edge peak detection result through a flooding method, so as to acquire an image edge of the target image.

Abstract: A system for estimating a plurality of device poses in a space, comprising: at least one device, comprising at least one hardware processor connected to at least one sensor and adapted to: in at least one of a plurality of iterations: using at least one model to compute a first estimated device pose in a first identified region of the space in response to at least one input signal captured by the at least one sensor, where the at least one model is one of a plurality of region specific models, each trained to compute an estimated device pose in one of a plurality of regions of the space; providing the first estimated device pose to at least one software object executed by the at least one hardware processor to perform a pose-oriented task; receiving at least one other model trained to compute another estimated device pose in a second.

Abstract: The present invention relates to a method and apparatus for performing object segmentation in an image. More particularly, the present invention divides a screen of an input image into at least two sub-images, and generates one image by combining the at least two sub-images to which an image segmentation algorithm is respectively applied.

Abstract: A method of updating an identification algorithm of a vehicle includes sensing an image and drawing boundary boxes in the image. The algorithm attempts to identify an object-of-interest within each respective boundary box. The algorithm also attempts to identify a component of the object-of-interest within each respective boundary box, and if component is identified, calculates an excluded amount of a component boundary that is outside an object boundary. When the excluded amount is greater than a coverage threshold, the algorithm communicates the image to a processing center, which may identify a previously un-identified the object-of-interest in the image. The processing center may add the image to a training set of images to define a revised training set of images, and retrain the identification algorithm using the revised training set of images. The updated identification algorithm may then be uploaded onto the vehicle.

Abstract: An image processing method includes calculating a first feature-quantity that includes feature-quantities for indicating features of individual pixel values of pixels located in a first direction perpendicular to a first line segment out of line segments and feature-quantities for indicating features of individual pixel values of pixels located in a second direction opposite to the first direction with respect to the first line segment, and calculating, based on pixel values of pixels located for each predetermined distance in a third direction perpendicular to a second line segment out of the line segments and pixel values of pixels located for each of the predetermined distance in a fourth direction opposite to the third direction with respect to the second line segment, a second feature-quantity that includes feature-quantities for indicating individual features of the pixels located for each of the predetermined distance from the second line segment.

Abstract: Examples of present disclosure relate to method and system to extract text from engineering drawing for performing accurate OCR. Initially, for the extraction, image of engineering drawing is received with a plurality of components. Each of the plurality of components in the image is classified to be one of a textual component and a non-textual component. At least one word element for textual components from the plurality of components is identified based on segmentation of the plurality of components. The segmentation is performed by drawing a plurality of horizontal edge projections of a predefined length for each of the textual components. Further, the textual components is identified to be associated with the at least one word element when horizontal edge projection of each of the textual components overlaps with adjacent textual component. The at least one word element is provided as extracted text for performing OCR on the engineering drawing.

Abstract: An image processing apparatus inputs a first and a second captured videos; extracts attribute values of image regions of background objects commonly included in the first and the second captured videos respectively; extracts attribute values of image regions of objects respectively included in the first and the second captured videos; derives a relative index of an attribute value of the image region of the object with reference to the attribute value of the image region of the background object with respect to the object included in each of the first and the second captured videos; and detects the same object included in the first and the second captured videos based on the index derived with respect to the object included in each of the first and the second captured videos.

Abstract: A computational imaging device and method are described, wherein the computational imaging device is operable to perform corner detection and other computer vision tasks more efficiently and/or more robustly than traditional imaging devices. In addition, methods are described operable to jointly optimize the computational imaging device and the corner detection task.

Abstract: Disclosed are a white balance calibration method based on skin color data and an image processing apparatus using the same. By using the method and the image processing apparatus, weight allocation of the skin color data in an input image may be adaptively performed to avoid white balance calibration errors due to excessive skin color data. Therefore, the present disclosure can further solve an issue that in video applications, the white balance calibration is easily interfered by a large amount of the skin color data. Moreover, the present disclosure may be adapted to different color temperatures and may output images having colors closer to actual colors.

Abstract: Embodiments disclosed herein relate generally to methods for measuring a characteristic of a substrate. In an embodiment, the method includes scanning over the substrate with a scanning probe microscope, the substrate having fins thereon, the scanning obtaining images showing respective fin top regions of the fins, the scanning probe microscope interacting with respective portions of sidewalls of the fins by a scanning probe oscillated during the scanning, selecting images obtained at a predetermined depth below the fin top regions to obtain a line edge profile of the fins, by a processor-based system, analyzing the line edge profile of the fins using power spectral density (PSD) method to obtain spatial frequency data of the line edge profile of the fins, and by the processor-based system, calculating line edge roughness of the fins based on the spatial frequency data.

Abstract: A logo controller includes: a logo area detector for detecting a logo area commonly included in a plurality of first image frames, based on the plurality of first image frames; a logo peripheral area setting unit for setting a logo peripheral area expanded based on the logo area; a display load determiner for calculating a display load value, based on grayscale values of at least one first image frame, and determining the difference between a logo peripheral area representative value based on grayscale values of the logo peripheral area and the display load value exceeds a first reference value; and a logo peripheral area corrector for generating a second image frame.

Abstract: Techniques of detecting edges of objects in images include applying an adaptive threshold to a sigmoidal membership function of a fuzzy gradient of the image brightness. For example, when a computer configured to detect edges of an object of an image receives a grayscale image, the computer computes gradients of the image brightness at each pixel to form a gradient matrix. The computer then creates a fuzzy gradient matrix by applying a sigmoidal membership function to each element of the gradient matrix to form a smoothed gradient matrix. The computer then performs an adaptive threshold operation on the smoothed gradient matrix to produce the edges of the object of the image.

Abstract: Systems and methods provide adapted content to a visitor to a physical environment. An example method receives an image of a visitor to an environment. A visitor portion of the image is distinct from an environment portion of the image. The method detects one or more shapes in the visitor portion of the image using an automatic shape detection technique and defines an approximate boundary of the one or more shapes using a mask. The one or more shapes can be shapes of the visitor's clothing items. The method then calculates an attribute for an area of the image within the mask and identifies electronic content based on the attribute for the area of the image within the mask. The attribute can be a color attribute for the area such as a median color or a dominant color. The method provides the identified electronic content for display in the environment.

Abstract: A system for processing a seller provided input image depicting an object. The system may process the input images to be in compliance with an online shopping website's image requirements. The image processing service may execute multiple modules on the input image. An edge detection module may detect one or more edges of the image of the object and determine border data indicative of a border around the object. An object of interest module may extract the image of the object within the border to generate an object of interest image. A background extraction module may create one or more closed shapes to separate the image of the object from background pixels. A hole detection module may traverse the one or more closed shapes to determine a presence of background pixels, remove the background pixels, and generate a resulting image.

Abstract: An image processing device includes a memory, and a processor coupled to the memory, wherein the processor is configured to execute acquiring a captured image including an original document region, detecting a color component value of a predetermined area in the captured image, detecting an edge in the predetermined area to acquire an edge amount indicating any one or both of a density of the edge and an edge intensity, and identifying, based on the color component value and the edge amount, a difference between a background of the original document region and a background of a background region obtained by removing the original document region from the captured image.

Abstract: An information processing apparatus comprises a determination unit configured to analyze a captured image of a finger and determine whether the captured image is a captured image appropriate to measure a dimension of a part of the finger; a measuring unit configured to measure a dimension of the finger using the captured image determined to be appropriate by the determination unit; and a generation unit configured to generate a model of a three-dimensional shape of the finger using information of the dimension.

Abstract: An apparatus can include a control device configured to select a scene from a collection of scenes for a window including electrochromic devices in response to receiving an input corresponding to state information. In another aspect, a method of operating an apparatus can include receiving an input corresponding to state information; and at a control device, in response to receiving the input, selecting a scene from a collection of scenes. The collection of scenes may be validated before using the scenes. The scenes may be validated based on physical configuration of the controlled space, preferences of the occupant, or the like. Still further, scenes can be changed to allow for the passage of time or an illusion of changing sky conditions when sky conditions are not changing. The apparatus and method can be simpler to understand and implement as compared to complex control strategies.

Abstract: Systems and methods are provided for processing and extracting content from an image captured using a mobile device. In one embodiment, an image is captured by a mobile device and corrected to improve the quality of the image. The corrected image is then further processed by adjusting the image, identifying the format and layout of the document, binarizing the image and extracting the content using optical character recognition (OCR). Multiple methods of image adjusting may be implemented to accurately assess features of the document, and a secondary layout identification process may be performed to ensure that the content being extracted is properly classified.

Abstract: The invention relates to a registration apparatus (14) for registering images comprising a unit (11) for providing a first and a second image of an object, such that an image element of the first image at a respective position has been reconstructed by multiplying projection data values of rays traversing the image element with weights and by backprojecting the weighted projection data values, a unit (12) for providing a confidence map comprising for different positions in the first image confidence values being indicative of a likelihood that an image feature is caused by a structure of the object, the confidence value being calculated as a sum of a function, which depends on the respective weight, over the rays traversing the respective image element, and a unit (13) for determining a transformation for registering the first and second image to each other under consideration of the confidence map.

Abstract: An image processing apparatus includes a platen on which a document to be read is placed, an image input unit configured to read, at a time, one or a plurality of documents placed on the platen, an individual image extraction unit configured to extract individual images of the one or the plurality of documents read at a time, an individual image location judgment unit configured to determine whether the extracted individual images are each located within one of areas set in a reading area of the platen depending on the number of documents to be read, and an individual image selection unit configured to, in a case where one or a plurality of the extracted individual images are located within a particular area, select one individual image as an image to be captured in the area based on a predetermined selection criterion.

Abstract: An image processing system, method, and program suppress block distortion when decoding block-encoded image data. Filtering content to be applied to the block image data is selected based on the encoding types of the block image data to be filtered. A filter filters block image data according to the selected filtering content.

Abstract: The image processing apparatus of the present invention includes: an edge determination unit configured to detect an edge pixel to which a white pixel and a black pixel are adjacent in a first direction in an image in which each pixel is represented as a white pixel or a black pixel; a first detection unit configured to detect a number of consecutive pixels up to the edge pixel in the first direction in the image; a second detection unit configured to detect a number of consecutive pixels whose number of consecutive pixels in the first direction is larger than a first threshold in a second direction perpendicular to the first direction in the image; and a type determination unit configured to determine a type of the edge pixel based on detection results by the first detection unit and detection results by the second detection unit.

Abstract: An ultrasound imaging apparatus (10) for segmenting an anatomical object in a field of view (29) of an ultrasound acquisition unit (14) is disclosed. The ultrasound imaging apparatus comprises a data interface (32) configured to receive a two-dimensional ultrasound data (30) of the object in the field of view in an image plane from the ultrasound acquisition unit and to receive a three-dimensional segmentation model (46) as a three-dimensional representation of the object from a segmentation unit (36). An image processor (34) is configured to determine a two-dimensional segmentation model (50) on the basis of the three-dimensional segmentation model and a segmentation plane (48), wherein the segmentation plane and an image plane of the two-dimensional ultrasound data correspond to each other.

Abstract: A method for scanning for borders in an image represented by pixels, the method including a first operation comprising: estimating an attribute for each of a first set of two adjacent pixel positions in the image; assessing whether a predetermined binary condition differs in respect of the two pixel positions, and if so determining that a border is present in the part of the image represented by pixels at those positions; and if a border is determined to be present in that part of the image, estimating the direction of the border as being perpendicular to a line joining the positions of the two pixels; and initiating tracing the border in that direction.

Abstract: Techniques associated with adaptive sampling are disclosed. In some embodiments, in response to receiving a specification of a scene to render, a sampling of each portion of the scene is determined based at least in part on the specification of the scene such that the scene is not uniformly sampled, and the scene is rendered according to the determined sampling of each portion of the scene.

Abstract: Embodiments of the present disclosure relate to vision-based object recognition devices and methods for controlling the same. According to an embodiment of the present disclosure, an electronic device may comprise a camera, at least one motor, a communication interface, at least one processor, and a memory electrically connected with the processor, wherein the memory may store commands that, when executed by the processor, cause the processor to identify a motion of an external object using a first image obtained by controlling the camera, obtain first direction information based on the identified motion of the external object, drive the at least one motor so that the camera faces a direction determined according to the first direction information, and identify a second electronic device from a second image obtained by controlling the camera facing the determined direction.

Abstract: An image processing device includes: a display unit displaying a first display region displaying a static image being a reference for matching an imaging unit to a predetermined imaging position and a second display region displaying video data imaged by the imaging unit; a determining unit executing a first matching operation of searching for an image coincident with an image of a first reference region set in the first display region, in a frame of the video data, and determining a region of the coincident image as a second reference region; and a correcting unit correcting a position of a determination region being a target of image determination performed with respect to the video data, based on a shift amount between the first reference region and the second reference region, and information representing a positional relationship between the determination region and the first reference region.

Abstract: One embodiment provides a method comprising receiving image data with a first image resolution, and determining an optimal image resolution for sampling the image data based on a learned model. The optimal image resolution is lower than the first image resolution. The method further comprises sampling the image data at the optimal image resolution, and performing image analysis on sampled image data resulting from the sampling.

Abstract: A method and system displaying and managing images of consumer products with cloud computing. One or more consumer products are selected. An N-layer digital image is created that includes an M-layer hierarchy of vector images and/or visual overlays stored in one or more cloud storage objects in progressive resolution format and allows progressive resolution display without loss of image quality on the selected plural consumer products that appear in the N-layer digital image. Selected consumer products are placed in a graphical shopping cart/bag that provides progressive resolution display directly from the graphical shopping cart/bag and allows new or different consumer products to be selected directly from the graphical shopping cart/bag.

Abstract: In computer vision systems that need to decode machine-readable indicia from captured imagery, it is critical to select imaging parameters (e.g., exposure interval, exposure aperture, camera gain, intensity and duration of supplemental illumination) that best allow detection of subtle features from imagery. In illustrative embodiments, a Shannon entropy metric or a KL divergence metric is used to guide selection of an optimal set of imaging parameters. In accordance with other aspects of the technology, different strategies identify which spatial locations within captured imagery should be successively examined for machine readable indicia, in order to have a greatest likelihood of success, within a smallest interval of time. A great variety of other features and arrangements are also detailed.

Abstract: Systems and methods in accordance with embodiments of this invention perform depth regularization and semiautomatic interactive matting using images. In an embodiment of the invention, the image processing pipeline application directs a processor to receive (i) an image (ii) an initial depth map corresponding to the depths of pixels within the image, regularize the initial depth map into a dense depth map using depth values of known pixels to compute depth values of unknown pixels, determine an object of interest to be extracted from the image, generate an initial trimap using the dense depth map and the object of interest to be extracted from the image, and apply color image matting to unknown regions of the initial trimap to generate a matte for image matting.

Abstract: A method for adjusting the proportional gain value of a proportional controller for use in an unmanned underwater vehicle. The invention includes the steps of: recording at an unmanned underwater vehicle a captured image in the direction of travel; applying a first filter to the captured image; calculating a first distance from each pixel in the captured image to a specified target color; finding the selected pixel from the captured image with the minimum distance from the specified target color, normalizing the image coordinates of the selected pixel into normalized image coordinates; passing the normalized image coordinates as an error value to the proportional controller; calculating a rate of error at the proportional controller; updating the proportional gain according at the proportional controller; and applying a control signal at the proportional controller.