Adaptive Bacteria Colony Picking in Unstructured Environments Using Intensity Histogram and Unascertained LS-SVM Classifier

Algorithm 2

The proposed adaptive quickly peaks detection.

(1) Obtain Δ𝐺^′_𝑖 from the image transformed based on Meanshift algorithm, and using a second order differentiation described in (8).

(2) Find the highest peak from the entire curve.

(3) Adaptively select a defined threshold: The threshold used to obtain the global peak is determined by both the Maximum

  and the minimum   peaks (threshold = (max (peak) − min (peak))/8).

  If two peaks are detected, continue. If two peaks are found, jump to Step  6.

 Repeat

(4) Increase the threshold, from ((max (peak) − min (peak))/8) to ((max (peak) – min (peak))/4).

 Until

(5)  Stop if finding two characteristic peaks.

(6) End