Looks like the gray scale version will not work with the floor finder. As the intensity is the same on your leg as on the floor you cannot use intensity to distinguish the two. Nor can you use texture as the image is not high enough resolution to determine a texture difference between the floor and your jeans.
Are your tests going to be on that floor? Perhaps you could use the tiles themselves and determine when the line a tile makes is cut to determine if an obstacle exists.
Or perhaps you can use a line laser or stereo cams to do this ... as the floor finder will probably not work in this scenario.
STeven.
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