Modified Line Detection

1. Use a larger filter; instead of a 3x3 neighborhood we will use a 5x5. This will result in larger values for edges that are "thicker". We will use the following matrix:

-1	-1	-1	-1	-1
-1	0	0	0	-1
-1	0	16	0	-1
-1	0	0	0	-1
-1	-1	-1	-1	-1

2. Further reduce the speckling issue we will square the resulting pixel value. This causes larger values to become larger but smaller values to remain small. The result is then normalized to fit into the 0-255 pixel value range.

3. Threshold the final image by removing any pixels lower than a 40 intensity value.

The results of this modified technique:

We now nicely see the line edges and most of the noise speckles are gone. We can now continue to the next step which is how to understand these images in order to map the results to left and right motor pulses.