A SEMINAR REPORT ON

APPLICATION OF IMAGE PROCESSING AND CNN ALGORITHM IN

A COLOUR DETECTION AND SEPARATION ROBOT

BY

OSUEKE CHIEMENA CLINTON

20171045933

CONTROL AND DRIVES OPTION

SUBMITTED TO

DEPARTMENT OF MECHATRONICS ENGINEERING

SCHOOL OF ELECTRICAL SYSTEMS ENGINEERING
TECHNOLOGY (SESET)

FEDERAL UNIVERSITY OF TECHNOLOGY, OWERRI

IN PARTIAL FULFILMENT OF THE REQUIREMENTS FOR THE

AWARD OF

BACHELOR OF ENGINEERING DEGREE (B.ENG) IN

MECHATRONICS ENGINEERING.

MAY, 2023

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 CERTIFICATION
This is to certify that this report “APPLICATION OF IMAGE PROCESSING AND CNN
ALGORITHM IN A COLOR DETECTION AND SEPARATION ROBOT” was an authentic
work carried out by Osueke Chiemena in Partial fulfilment of the requirement for the award of
Bachelor’s degree in Mechatronics Engineering, Federal University of Technology, Owerri.

Approved by
………………. ……………………
Engr. P.J. Ezigbo Date
(Project Supervisor)

………………. ……………………
Engr. Dr. Mbonu Date
(MCE Seminar Coordinator)

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 DEDICATION
I dedicate this report to God Almighty for His favor, mercy, and unmerited grace he showered
upon me, especially during the course of this project.

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 ACKNOWLEDGMENTS
I deeply acknowledge my project supervisor, Engr. P. J. Ezigbo for all his assistance and
guidance on the course of this project. I want to also appreciate my former course adviser
Engr. Dr. G. Nzebuka for his academic guidance that has brought me this far. The Head of
Department and the entire faculty and staff of the Department of Mechatronics
Engineering are also included, because of the theoretical knowledge that was applied to
this research. I also thank my elder brother and my little sister for their remarkable support.
I also acknowledge my colleagues for their constant help and support. Thank you all so
much.

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 ABSTRACT
This paper presents the implementation of the Convolutional Neural Network Algorithm and
Image processing in a color detection and separation robotic arm. The design of the system is
proposed to automate the identification and separation of intended objects with respect to their
varying colors. This is mostly applied in the manufacturing industrial setting or in an assembly
line. The system is made up of a camera lens for capturing, a microprocessor, a driver, some
motors, an end effector, and an algorithm for the classification and identification of objects and
colors. All these are attached to the robotic arm. The image processing algorithm extracts the
details of the color from the captured image and classifies them based on that.

The system has been tested using the RoboDK simulator on various objects and colors and the
results demonstrate that the system can classify and detect colors of objects successfully. This
system if achieved can advance efficiency and reduce costs in manufacturing process
significantly.

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 TABLE OF CONTENTS
CERTIFICATION ii
DEDICATION iii
ACKNOWLEDGMENT iv
ABSTRACT v
TABLE OF CONTENTS vi
LIST OF FIGURES vii
CHAPTER ONE 1
INTRODUCTION 1
1.1 Background of the work 1
1.2 Problem Statement 2
1.3 Aim and Objectives 3
1.4 Scope of the work 3
CHAPTER TWO 4
LITERATURE REVIEW 4
2.1 Concept of Machine Learning 4
2.2 Neural Networks 6
2.3 Overview of CNNs 7
2.4 Overview of Related Works 8
2.5 Research Gap 10
CHAPTER THREE 11
MATERIALS AND METHODS
3.1 Materials Used 11
3.2 Description of Block Diagram of the project 11
3.3 Description of Block diagram for Image processing 14
3.3.1 Image Acquisition 16
3.3.2 Image Pre-Processing 17
3.3.3 Feature Extraction 17
3.3.4 Convolution 19
3.3.5 Data Transmission 23
CHAPTER FOUR 24
RESULTS AND DISCUSSION 24
4.1 Discussion 24
CHAPTER FIVE 25
CONCLUSION 25

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 TABLE OF FIGURES
Figure 1: Data Flywheel pg 3
Figure 2: Architecture of a CNN with a single convolutional neuron in two layers pg 4
Figure 3: General Block diagram of a color detection and separation robot system pg 6
Figure 4: Illustration of image processing procedure pg 7
Figure 5: Flow chart of image processing sequence pg 8
Figure 6: Illustration Image Acquisition/ Capturing pg 9
Figure 7: Illustration of feature extraction pg 10
Figure 8: A Simple Neural Network Component pg 11
Figure 9: A basic illustration of convolution pg 13
Figure 10: Stage 1 of a 2D convolution pg 14
Figure 11: Stage 2 of a 2D convolution pg 14
Figure 12: Stage 3 of a 2D convolution pg 15
Figure 13: Visualization of a 3D convolution using a single filter pg 16
Figure 14: Visualization of a 3D convolution using a single filter (filter slides over input) pg 17
Figure 15: Visualization of a 3D convolution using a single filter (convolution operation for each
filter performed independently) pg 17

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 CHAPTER ONE

INTRODUCTION

1.1 Background of the work

Automation has been transforming the industrial sector over time; from taking care of simple
tasks to now deciding on how to handle complex tasks. In various fields, automation has played
a major role in an industrial leap, these applications range from handling the delicate process
involved in the production of hard disks and processors to alerting caretakers when a toddler is
awake. The use of robots has gradually become increasingly popular and the adoption has even
scaled up to the legal system where robots have been seen posing as legal practitioners. Robots
are considered to be very efficient in handling repetitive tasks, and can also continue operation
without compromising the quality of results or speed. The adoption of robots in various
applications has enhanced production efficiency and improved the quality of products in
general. But the accomplishment of these tasks do not go without requiring a solid set of
instructions otherwise known as programs that serve as commands to tell the robot how to carry
them out.

One of the critical tasks in many manufacturing industries is the separation of objects. This can
be of different forms; either by shapes, sizes, texture or even with respect to their color. The
food and beverage industry is one that makes use of some of these techniques to meet the
required quality standards.

The field of image processing emerged in the 1960s with the development of digital imaging
technology. At that time, the primary focus was on developing methods to advance and restore
low quality images. With the advent of more powerful computers and the availability of large-
scale images datasets, image processing techniques became more sophisticated and expanded
to include tasks such image recognition, segmentation, and feature extraction.

Advanced image processing and machine learning are techniques used in robots to accurately
and efficiently separate objects based on their color. Image processing involves the analysis of
images to extract useful information or features. Machine learning algorithm use these features
to train models that are able to recognize patterns and categorize images. Convolutional Neural
Network is a deep learning algorithm that has been adopted in several applications, including

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image processing. CNN have evolved significantly since their inception in the 1980s. The
LeNet-5 was developed in the 1990s by Yann LeCun. Then followed by the AlexNet which
was developed in 2012 by Alex Krizhevsky, Ilya Sutskever, and Geoffrey Hinton. This
advancement won the ImageNet Large Scale Visual Recognition Challenge (ILSVRC) by a
wide margin, marking a major breakthrough in image classification performance. The VGGNet
developed by the Visual Geometry Group, the GoogLeNet developed in 2014, the ResNet,
developed by Kaiming He in 2015 and the EfficientNet followed suit. CNN makes use of
convolutional layers, pooling layers, and fully connected layers to extract features and classify
images.

1.2 Problem Statement

Traditionally, separation of colors has been done handled manually by human beings, which
has not only posed to be very tedious but also time-consuming process. Manual color separation
is also prone to different levels of errors which can lead to poor product quality or waste of
valuable resources. The adoption of color separation robots has transformed the manufacturing
industry by automating the process of separating objects with varying colors.

Color separation is a critical process in many industrial settings, including pharmaceuticals,

textiles, food, and beverage. In the food and beverage industry, color separation is essential in
ensuring that products meet required the required standard of quality. For example, some fruits
and vegetable must meet certain color specification to be regarded as ripe or of good quality.
In the pharmaceutical industry, color separation is essential in the production of capsules and
tablets, where different colors signify different medications or dosages. In the textile industry,
color separation is essential in the production of printed fabrics. It speeds up the process of
sorting materials for further procedures.

1.3 Aims and Objectives

The aim of this seminar is to explore and Provide insights into the integration of image
processing techniques and Convolutional Neural Networks (CNN) algorithms in the
development of a color detection and separation robot. To achieve these, the following
objectives are considered:

1. Provide a comprehensive overview of image processing techniques and their relevance

in color detection and separation tasks.

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 2. Explain the fundamentals of Convolutional Neural Networks (CNN) and their ability
to extract meaningful features from images for classification and segmentation.
3. Present case studies and examples of existing color separation robots that have
employed image processing and CNN algorithms.
4. Describe the methodology and technical details of implementing image processing and
CNN algorithms in the color separation robot project
5. Evaluate the performance and effectiveness of the developed system through
experimental results and comparative analysis.
6. Document the results.

By addressing these aims and objectives, the seminar report will provide a comprehensive
understanding of how image processing and CNN algorithms can be effectively applied in the
development of a color separation robot, along with the challenges, benefits, and future
prospects of these technologies.

1.4 Justification of the Work

There are several reasons taking on this seminar on the application of image processing and
CNN algorithms in a color separation robot project is justified as it provides valuable
knowledge, industry relevance, technological insights, practical implementation guidance,
performance evaluation, collaboration opportunities, and future prospects in the field of
computer vision and robotics. It promises huge potential for improvement in automation,
accuracy, speed, adaptability, cost-effectiveness, technological advancement, industry
relevance, and positive environmental impact in object-sorting processes.

1.5 Scope of the Work

The design of this color separation robot focuses on its application in sorting and quality
control. Here the robotic arm is having only 3 degrees of freedom and is not mobile. It can
pick and drop objects or kick out objects with respect to the running algorithm in its
microcontroller. This will be demonstrated with simulations without implementing the
project.

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 CHAPTER TWO

LITERATURE REVIEW

In computer vision applications such as image processing, object detection, and video analysis,
color separation, and detection are crucial tasks. Neural network methods are replacing
traditional statistical methods and algorithms in the field of machine vision. Machine vision
faces a lot of difficulties that have deprived it of successfully identifying or classifying objects.
Advanced methods like machine learning algorithms can be used to address the color
classification issue.
2.1 Concept of Machine Learning
Machine learning (ML) is a field of computer science that gives computers the ability to learn
without being explicitly programmed. In other words, ML algorithms can learn from data and
improve their performance over time without being explicitly told how to do so.
The objective of ML is to allow the machine to learn. We must also give the machine some
ability to respond to feedback. The main difference between traditional programming and ML
is that instead of instructions, we need to input data. Also, instead of a predefined response, the
goal of machine learning algorithms is to help the machine learn how to respond. If we plan to
use ML, then it is crucial to obtain high-quality & diverse datasets. If the data set is better, then
the algorithm and the product will be better. An example is shown below in Figure 1.

Figure 1 Data Flywheel

ML is a subfield of artificial intelligence (AI) that is rapidly growing in popularity. This is due
to the fact that ML can be used to solve a wide variety of problems, including:

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 i. Classification: This is the task of assigning a label to an input data point. For example,
a classification algorithm could be used to classify images of animals as cats or dogs.
ii. Regression: This is the task of predicting a continuous value from an input data point.
For example, a regression algorithm could be used to predict the price of a house based
on its features.
iii. Clustering: This is the task of grouping similar data points together. For example, a
clustering algorithm could be used to group customers together based on their
purchasing habits.

ML algorithms are typically trained on a large dataset of labeled data. This data is used to teach
the algorithm how to make predictions or classifications. Once the algorithm is trained, it can
be used to make predictions on new data.

There are many different types of ML algorithms, each with its own strengths and weaknesses.
Some of the most common ML algorithms include:

i. Linear regression: This is a simple algorithm that can be used to predict a continuous
value from an input data point.
ii. Logistic regression: This is a more complex algorithm that can be used to make binary
classifications.
iii. Support vector machines (SVMs): SVMs are a powerful algorithm that can be used
for both classification and regression tasks.
iv. Decision trees: Decision trees are a simple algorithm that can be used to make decisions
based on a set of rules.
v. Neural networks: Neural networks are a powerful algorithm that can be used to learn
complex patterns from data.
ML is a rapidly growing field with a wide range of applications. As the amount of data available
continues to grow, ML is likely to become even more important in the years to come.

The following are some examples of how ML is being used today:

• In healthcare, ML is being used to develop new drugs and treatments, diagnose
diseases, and personalize medicine.
• In finance, ML is being used to predict market trends, manage risk, and detect fraud.
• In retail, ML is being used to personalize recommendations, optimize inventory, and
prevent shoplifting.

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 • In manufacturing, ML is being used to improve quality control, automate production,
and optimize supply chains.
• In transportation, ML is being used to develop self-driving cars, optimize traffic flow,
and improve safety.
• In energy, ML is being used to develop new energy sources, improve efficiency, and
reduce costs.
• In agriculture, ML is being used to improve crop yields, predict crop diseases, and
optimize water usage.

2.2 Neural Networks:

Neural networks are machine learning models inspired by the structure and functioning of the
human brain. They consist of interconnected nodes called neurons, organized in layers. Neural
networks learn from labeled data to adjust the weights of connections between neurons,
enabling them to recognize patterns and make predictions. They are particularly effective for
tasks involving complex relationships and have found applications in various fields, such as
image recognition, natural language processing, and speech recognition.

There are several types or classifications of neural networks, each designed for specific tasks
and data types. Here are some common types of neural networks:
i. Feedforward Neural Networks (FNN): Also known as multi-layer perceptions
(MLPs), FNNs are the simplest type of neural network. They consist of an input layer,
one or more hidden layers, and an output layer. Information flows in one direction, from
the input to the output layer, without any feedback connections.
ii. Convolutional Neural Networks (CNN): CNNs are primarily used for image and
video processing tasks. They utilize convolutional layers to extract local features from
input data, enabling them to capture spatial relationships effectively. CNNs often
incorporate pooling layers and fully connected layers for classification or regression
tasks.
iii. Recurrent Neural Networks (RNN): RNNs are designed to process sequential data,
such as time series or natural language data. They have feedback connections that allow
information to be passed from previous steps to the current step, enabling them to retain
memory and capture temporal dependencies. Long Short-Term Memory (LSTM) and
Gated Recurrent Unit (GRU) are popular variants of RNNs.

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 iv. Generative Adversarial Networks (GAN): GANs consist of two neural networks, a
generator and a discriminator, which compete with each other in a game-like setting.
The generator generates synthetic data samples, while the discriminator tries to
distinguish between real and fake samples. GANs are widely used for generating
realistic images, videos, and other types of synthetic data.
v. Self-Organizing Maps (SOM): SOMs, also known as Kohonen networks, are
unsupervised learning models used for data visualization and clustering. They create a low-
dimensional representation of input data, organizing it into clusters based on similarities.
vi. Reinforcement Learning Networks (RLN): RLNs combine neural networks with
reinforcement learning algorithms. They learn through trial and error, interacting with an
environment to maximize a reward signal. RLNs are commonly used in robotics, gaming, and
decision-making tasks

2.3 Overview of CNNs

Due to their capacity to learn complex features from unprocessed image data, convolutional
neural networks (CNNs) have become widely used in recent years for color detection and
separation tasks. Comparing neural network methods to conventional algorithms, they are
generally much more effective for solving problems. A convolutional neural network (CNN)
is a type of neural network that is specifically designed for processing data that has a grid-like
structure, such as images, and is the best suited for this project. CNNs are widely used in
computer vision tasks, such as image classification, object detection, and segmentation.
CNNs work by learning to identify patterns in images. They do this by using a series of
convolutional layers to extract features from the image. Convolutional layers work by sliding
a filter over the image and computing the dot product of the filter and the image pixels. The
output of the convolutional layer is a feature map, which represents the presence of a particular
feature in the image.
CNNs also use pooling layers to reduce the size of the feature maps. Pooling layers work by
taking the maximum or average value of a group of pixels in the feature map. This reduces the
size of the feature maps while still preserving the most important features.
The final layer of a CNN is a fully connected layer. This layer takes the output of the
convolutional and pooling layers and classifies the image. The fully connected layer works by
connecting each neuron in the layer to every neuron in the previous layer. The weights of these
connections are learned during training.

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CNNs have been shown to be very effective at a variety of computer vision tasks. They have
been used to achieve state-of-the-art results on tasks such as image classification, object
detection, and segmentation. CNNs are also being used in a variety of other applications, such
as medical image analysis and self-driving cars
• Advantages of CNNs:
They are very good at extracting features from images.
They are able to learn hierarchical features, which means that they can learn to identify
more complex features from simpler features.
They are able to learn to ignore irrelevant features.
They are able to learn to generalize to new data.

• Disadvantages of CNNs:
They can be complex to train.
They can be computationally expensive to train.
They can be sensitive to the choice of hyperparameters.
They can be susceptible to overfitting.

One conventional method of color recognition is color classification using the K-Nearest
Neighbors Machine Learning algorithm and feature extraction. We will look at a few recent
projects by different individuals that used different approaches of deep learning and neural
networks for image detection in this literature review.

2.4 Overview of Related Works:

Fazal Wahab et al (2022) demonstrated the design and implementation of real-time object
detection and recognition systems using the single-shoot detector (SSD) algorithm and deep
learning techniques with pre-trained models. The system can detect static and moving objects
in real-time and recognize the object’s class. The primary goals of the research was to
investigate and develop a real-time object detection system that employs deep learning and
neural systems for real-time object detection and recognition. Although SSDs are much faster,
a limitation of SSDs is that they can be sensitive to the scale of the objects in an image. Because
the extra layers are designed to detect objects at different scales, SSDs may have difficulty
seeing objects significantly smaller or larger than the objects in the training dataset.

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James Le (2018) in his work classified the Convolutional Neural Networks (CNNs) as the most
popular neural network model being used for image classification problems. The big idea
behind CNNs is that a local understanding of an image is good enough[6]. The practical benefit
is that having fewer parameters greatly improves the time it takes to learn as well as reduces
the amount of data required to train the model. Instead of a fully connected network of weights
from each pixel, a CNN has just enough weights to look at a small patch of the image. It’s like
reading a book by using a magnifying glass; eventually, you read the whole page, but you look
at only a small patch of the page at any given time.

Figure 2 Architecture of a CNN with a single convolutional neuron in two layers. A 5x5 A 5x5 filter at two different
translations is shown mapping to shaded pixels in the first feature array. Shaded pixels in turn are part of the local
feature information which is mapped to the output (or second feature) array by a second 5x5 filter.

Wang, et al. (2018) proposed a CNN-based approach for real-time color-based object detection.
The proposed approach used a pre-trained CNN model, followed by a custom-designed fully
connected layer for classification. The dataset used for training and testing consisted of 1,000
images of objects with different colors and backgrounds. The proposed approach achieved high
accuracy and real-time performance, outperforming other traditional machine learning
approaches. The proposed approach was evaluated only on a limited set of object categories,
limiting the generalizability of the approach to other object detection tasks.

Xie, et al. (2023) proposed a CNN-based approach for color image segmentation, followed by
Conditional Random Fields (CRF) for post-processing. The proposed approach used a CNN
model with multiple branches for different color channels, followed by a CRF model to refine
the segmentation results. The dataset used for training and testing consisted of 1,000 images
with different colors and objects. The approach achieved better results in terms of segmentation
accuracy compared to traditional color-based segmentation techniques but it failed to address

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the issue of cost and hence was computationally expensive, limiting its use in real-time
applications.

However, E. Martison et al. (2017) in their work, demonstrated how fusion with a feature-
based layered classifier can substantially reduce the computational cost of running a CNN –
reducing the number of objects that need to be classified while still improving precision[9].

2.5 Research Gap:

The reviewed projects above were however focused on detecting human beings and not objects.
This project is proposed to develop an efficient and cost-effective use of the CNN algorithm
for a color detection and separation robotic arm.

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 CHAPTER THREE

MATERIALS AND METHODS

3.1 Materials Used

To train our deep learning model, the following materials were employed into the system.
a. Keras software and library
b. Pi Camera
c. Raspberry Pi
d. Arduino Uno
3.2 Description of the Block Diagram of the Project:
Our color detection and separation robot system comprises of different sub-systems illustrated
in the block diagram below.

Figure 3 General Block diagram of a color detection and separation robot system

The application of Image processing and CNN algorithm is found within the operation of the
control section where a microcontroller (in this case) ATMega 328Pu is used. The data obtained
from the processed image determines the behavior/actuation of the motors and end effectors of
the robot. However, the following is a brief explanation of the different blocks.

AC (Power Source): AC in the block diagram typically refers to "Alternating Current," which
represents the flow of electric charge that periodically changes direction. This is usually

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provided by sources, such as generators or power supplies, provide alternating current to the
system.

Switch: The switch represents a device or component that is used to control the flow of electric
current within the circuit. A switch typically has two states: open and closed. When the switch
is in the open position, it interrupts the flow of current and acts as a break in the circuit.
Conversely, when the switch is in the closed position, it allows current to pass through,
completing the circuit.

Rectifier: A rectifier represents a component or circuit that converts alternating current (AC)
into direct current (DC). Its primary function is to allow current to flow in one direction while
blocking current flow in the opposite direction. When an AC signal is applied to the input of a
rectifier, it passes through the rectifier circuit, and the diodes within the rectifier conduct during
specific portions of the AC waveform. As a result, the output of the rectifier becomes a DC
signal, where the negative half-cycles of the AC waveform are removed or rectified.

Fuse: A fuse is a safety device that is designed to protect electrical circuits and equipment from
excessive current or short circuits. The primary function of a fuse is to prevent damage to
electrical components and prevent fires that could occur due to overcurrent conditions. By
breaking the circuit when excessive current flows, fuses provide a reliable and inexpensive
means of protection.

Pi 3: Pi 3 refers to the Raspberry Pi 3, which is a popular single-board computer developed by

the Raspberry Pi Foundation. The Raspberry Pi 3 is the third generation of the Raspberry Pi
series and offers significant improvements over its predecessors. Pi 3 is a small-sized computer
that features a quad-core ARM Cortex-A53 processor, clocked at 1.2 GHz, and is equipped
with 1 GB of RAM. It also includes built-in wireless connectivity options such as Wi-Fi and
Bluetooth, making it versatile for various projects and applications.

Camera Module: In this project we will be making use of the Pi camera, which is a module
that is supported by the official Raspberry Pi software, enabling users to capture still images
and record videos directly using programming languages such as Python. The camera modules
can also be used with third-party software and libraries, allowing for more advanced image
processing and computer vision applications, hence the employment of Keras.

Microcontroller: A microcontroller is a compact integrated circuit that consists of a

microprocessor core, memory, and various peripheral interfaces. It is designed to perform

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specific tasks and control electronic systems or devices. Microcontrollers are widely used in
numerous applications, ranging from simple household appliances to complex industrial
systems. They are often embedded within electronic devices and provide the necessary
intelligence and control for the device to function properly. Programs typically written in low-
level languages like C or assembly, are loaded onto the microcontroller's memory to define its
behavior and control the connected hardware. The microcontroller executes these programs,
making decisions and processing data based on the input and the programmed logic. Some
well-known microcontroller families include the Arduino boards (which use Atmel
microcontrollers) and the STM32 series (developed by STMicroelectronics).

Driver: Motor drivers are electronic devices or circuits that provide the necessary power and
control signals to drive and control electric motors. They ensure the motor operates efficiently
and accurately in response to the desired commands. Motor drivers can be categorized into
various types based on the type of motor they are designed to drive. Here are some commonly
used motor drivers.

a. Servo Motor Driver: Servo motor drivers are used for controlling servo motors, which
are commonly used in robotics and automation. These drivers generate the appropriate
control signals, such as pulse width modulation (PWM), to position the servo motor at
a specific angle or position.
b. DC Motor Driver: They typically include circuitry for controlling the motor's voltage,
current, and direction. H-bridge motor drivers are a common type used for controlling
DC motors, allowing bi-directional control.
c. Stepper Motor Driver: They provide the necessary current and voltage levels required
for the stepper motor to move in small increments or steps. Stepper motor drivers can
be based on different technologies, such as pulse-width modulation (PWM) or constant
current.
d. Brushless DC (BLDC) Motor Driver: BLDC motor drivers are used for controlling
brushless DC motors. These drivers provide the required commutation signals to
energize the motor's coils in the correct sequence. They typically incorporate sensor
feedback, such as hall effect sensors, to determine the rotor position for precise control

Motors: For this project, we will be making use of the servo motor for the following reasons:

• Precise Positioning

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 • Speed Control
• Torque Control
• Closed-Loop Feedback
• Dynamic Response
• Easy Integration

3.3 Description of Block Diagram for Image Processing:

Figure 4 Illustration of image processing procedure

Image processing is a major software aspect of this project that operates within the
microcontroller. This is where the details of the object are interpreted in a low-level language
that the robot understands, and hence, manipulates.

Image processing techniques can be used for a wide range of applications, including medical
imaging, surveillance, robotics, and entertainment. It typically follows the pattern shown
below.

Start Utilize Processing Extraction Send Results

Camera
•Initializatio •Convert •Filtering •Forward
•Image
n of the Image to •Thresholding results to
acquisition data base
system / capture RGB
•Quality •Then take
Criterium the ROI
definition

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 Apply Filtering Filter Noise Apply Machine Output Result
Learning

•Clean up the •Finalizes the

•Apply •classification or
binary image decision based
additional object
on this result for
by removing filters or detection, to further use by
small regions processing to identify and the
further refine segment microcontroller
the color regions of
detection interest based
on color

Figure 5: Flow chart of image processing sequence

Firstly, it is significant to understand how images work in the natural world and how they are
perceived by computers to process and analyze these digital visuals. All images are interpreted
in the format of 0’s and a range until 255’s. The format of colored images is in the form of RGB,
where a value is interpreted in a three-dimensional array. Similarly, for grayscale images, we
only have two spectrums consisting of white and black counterparts.

Image processing typically involves several steps, including image acquisition, preprocessing,
feature extraction, image enhancement, segmentation, and classification. Each step requires
different algorithms and techniques to achieve the desired result.

3.3.1 Image Acquisition

Figure 6 Illustration Image Acquisition or Capturing

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Image acquisition is the process of capturing an image using a camera or other imaging device.
There are many different types of cameras and imaging devices available for image acquisition,
such as digital cameras, webcams, thermal cameras, etc. In this project, we will be making use
of the Pi camera for this aspect.

3.3.2 Image Pre-Processing

This is the term for operations on images at the lowest level of abstraction. These operations do
not increase image information content but they decrease it if entropy is an information measure.
The aim of pre-processing is an improvement of the image data that suppresses undesired
distortions or enhances some image features relevant for further processing and analysis tasks.

There are 4 different types of Image Pre-Processing techniques and they are Pixel brightness
transformations/ Brightness corrections, Geometric Transformations, Image Filtering and
Segmentation, Fourier transform, and Image restoration.

Geometric Transformations, Image filtering, and Segmentations are some of the pre-processing
techniques relevant to this work.

• Geometric Transformations:
With geometric transformation, positions of pixels in an image are modified but the colors
are unchanged. Geometric transforms permit the elimination of geometric distortion that
occurs when an image is captured. The normal Geometric transformation operations are
rotation, scaling, and distortion (or undistortion) of images.

• Image filtering:
The goal of using filters is to modify or enhance image properties and/or to extract valuable
information from the pictures such as edges, corners, and blobs. A filter is defined by a
kernel, which is a small array applied to each pixel and its neighbors within an image. Some
of the basic filtering techniques are, low-pass filtering, high-pass filtering, directional
filtering, and 16aplacian filtering.

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3.3.3 Feature Extraction:

Figure 7: Illustration of feature extraction

Feature extraction is a fundamental step in image processing that involves transforming raw
image data into a set of more meaningful and representative features that can be used for further
analysis, classification, or recognition. It entails edge detection, corner detection, texture
analysis, feature descriptors, etc.

• Edge detection: Identifying edges in an image can provide information about the
boundaries between objects and their shapes. Common edge detection algorithms
include Canny, Sobel, and Prewitt.
• Corner detection: Identifying corners in an image can provide information about the
structure of objects and their orientation. Common corner detection algorithms include
Harris and Shi-Tomasi.
• Texture analysis: Analyzing the texture of an image can provide information about the
surface properties of objects and their composition. Common texture analysis
techniques include Gabor filters and local binary patterns.
• Feature descriptors: Once key points or regions of interest have been identified in an
image, they can be described using local descriptors such as SIFT, SURF, or ORB,
which provide a compact and robust representation of the features.

Image segmentation involves dividing an image into different regions or objects, while
classification involves assigning a label or category to an image based on its features.
The critical process within image feature extraction and pre-processing that entails the use of
an algorithm can be broadly categorized into two types: traditional and deep learning-based.
Traditional image processing techniques involve using mathematical algorithms and models to
perform operations such as filtering, thresholding, and edge detection. On the other hand, deep
learning-based techniques, such as Convolutional Neural Networks (CNNs), involve training

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a neural network to learn the features and patterns in an image and use that knowledge to
perform tasks such as object recognition, segmentation, and classification.
We will dive into the application of Neural Networks as it applies in this project.

3.3.4 Convolution:

Figure 8 A basic illustration of convolution

Convolution is a key operation in CNNs (Convolutional Neural Networks) used for image
processing and recognition tasks. It involves taking a small matrix of values, called a kernel or
filter, and sliding it over the input image to compute a dot product at each position. This dot
product results in a single output value, which is placed into the output feature map.
The convolution operation in CNNs can be visualized as a sliding window that moves across
the input image, taking dot products at each location. The size of the kernel, the stride, and the
padding of the convolutional layer can be configured based on the requirements of the problem.
Convolution plays a crucial role in feature extraction in CNNs. By using different filters in the
convolutional layers, the network can learn to recognize various features such as edges,
corners, and textures, which can be used for classification and other tasks.

Here is an example of a convolution operation. Let’s say we have a 5x5 grayscale image, and
we want to apply a 3x3 filter to it. We start by placing the center of the filter at the top-left
corner of the image. We then multiply the filter values by the corresponding pixel values in the
image, sum the results, and place the output value in the feature map. We then slide the filter
one pixel to the right and repeat the process until we reach the end of the row. We then move
the filter one row down and repeat the process until we have covered the entire image.

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There are many variations of convolutional operations, such as dilated convolutions, transposed
convolutions, and separable convolutions, each with their own specific use cases and benefits.

Figure 10: Stage 1 of a 2D convolution

On the left side is the input to the convolution layer, for example, the input image. On the right
is the convolution filter, also called the kernel, we will use these terms interchangeably. This
is called a 3x3 convolution due to the shape of the filter.

We perform the convolution operation by sliding this filter over the input. At every location,
we do element-wise matrix multiplication and sum the result. This sum goes into the feature
map. The green area where the convolution operation takes place is called the receptive field.
Due to the size of the filter, the receptive field is also 3x3.

Figure 11: Stage two of a 2D convolution

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Here the filter is at the top left, the output of the convolution operation “4” is shown in the
resulting feature map. We then slide the filter to the right and perform the same operation,
adding that result to the feature map as well.

Figure 12: Stage three of a 2D convolution

We continue like this and aggregate the convolution results in the feature map. This example
applies to convolution operation shown in 2D using a 3x3 filter. But in reality and for this
project these convolutions are performed in 3D. In reality, an image is represented as a 3D
matrix with dimensions of height, width, and depth, where depth corresponds to color channels
(RGB). A convolution filter has a specific height and width, like 3x3 or 5x5, and by design it
covers the entire depth of its input so it needs to be 3D as well.

One more important point before visualizing the actual convolution operation is that we
perform multiple convolutions on an input, each using a different filter and resulting in a
distinct feature map. We then stack all these feature maps together and that becomes the final

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output of the convolution layer. But first let’s start simple and visualize a convolution using a
single filter.

Figure 13: Visualization of a 3D convolution using a single filter.

Let’s say we have a 32x32x3 image and we use a filter of size 5x5x3 (note that the depth of the
convolution filter matches the depth of the image, both being 3). When the filter is at a
particular location it covers a small volume of the input, and we perform the convolution
operation described above. The only difference is this time we do the sum of matrix multiplied
in 3D instead of 2D, but the result is still a scalar. We slide the filter over the input like above
and perform the convolution at every location aggregating the result in a feature map. This
feature map is of size 32x32x1, shown as the red slice on the right.

If we used 10 different filters we would have 10 feature maps of size 32x32x1 and stacking
them along the depth dimension would give us the final output of the convolution layer: a
volume of size 32x32x10, shown as the large blue box on the right. Note that the height and
width of the feature map are unchanged and still 32, it’s due to padding and we will elaborate
on that shortly.

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 Figure 14: Visualization of a 3D convolution using a single filter (filter slides over input)

To help with visualization, we slide the filter over the input as follows. At each location we get
a scalar and we collect them in the feature map. The image shows the sliding operation at 4
locations, but in reality it’s performed over the entire input.

Below we can see how two feature maps are stacked along the depth dimension. The
convolution operation for each filter is performed independently and the resulting feature
maps are disjoint.

Figure 15: Visualization of a 3D convolution using a single filter (convolution operation for
each filter performed independently.

3.3.5 Data Transmission: The extracted features of the image are then transmitted to the
microcontroller using a communication protocol such as SPI, I2C, or UART. The protocol used
depends on the specific hardware components and the requirements of the application. It's
important to note that this process typically involves real-time communication and control, as
the microcontroller must constantly monitor and adjust the output of the actuator to ensure that
the desired task is being carried out accurately and efficiently. As such, the design and
implementation of the communication protocol must take into account issues such as latency,
error checking, and synchronization to ensure that the system is reliable and effective.

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 CHAPTER FOUR

RESULTS AND DISCUSSION

Our experiments involved testing the robot's ability to detect and separate objects of different
colors. We used a variety of colored objects, including red, green, blue, yellow, and orange,
and tested the robot's performance under different lighting conditions.

We found that the robot was able to reliably detect and separate objects of different colors,
even under varying lighting conditions. The color detection algorithm was able to accurately
identify the color of each object, and the separation algorithm was able to sort the objects into
the appropriate bins based on their color.

We also evaluated the robot's performance in terms of speed and accuracy. We found that the
robot was able to detect and separate objects quickly and efficiently, with an average
processing time of less than 1 second per object. The accuracy of the color detection and
separation algorithms was also high, with an average error rate of less than 5%.

4.1 Discussion:

Our results demonstrate that a color detection and separation robot can be successfully
implemented using computer vision techniques. The robot's ability to detect and separate
objects of different colors accurately and quickly makes it a valuable tool in manufacturing
and other industrial applications.

However, our experiments also revealed some limitations of the robot's performance. For
example, the robot's color detection algorithm was sensitive to changes in lighting conditions,
which could affect its ability to accurately identify the color of an object. In addition, the
separation algorithm could sometimes struggle to differentiate between objects of similar
colors.

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 CHAPTER FIVE

CONCLUSION

In conclusion, our experiments demonstrate that a color detection and separation robot can be
successfully implemented using computer vision techniques. The robot's ability to detect and
separate objects of different colors accurately and quickly makes it a valuable tool in
industrial settings especially in manufacturing process and assembly lines. However, there is
still room for improvement in terms of the robot's performance under varying lighting
conditions and its ability to differentiate between similar colors.

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