Automatic Manipulator Tracking Control Based on Moving Target Trajectory Prediction

Figure 3

Generation of binary code. Note: subgraph (1) is the input image + window; subgraph (2) is the grayscale map of the input image + window; subgraph (3) is the fuzzified image + window; subgraph (4) is the pixel comparison image + window; and subgraph (5) is the final binary code.