Grid coding: A preprocessing technique for robot and machine vision

The problem of machine vision as evidenced in the various robot projects in existence is attacked by analogy with the supposed nature of human visual processing in that edges are enhanced, texture is examined and various heuristic approaches are studied. This paper describes a non-anthropomorphically based method of decomposing a scene subjected to a special form of illumination into elementary planar areas. The method consists in coding the various planar areas as the modulation on a spatial frequency carrier grid so that the extraction of the planar areas becomes a matter of linear frequency domain filtering. The paper also addresses the application of grid coding to other problems in recording and extracting information from 3-D images. © 1971.