A robotic arm is being used to construct parts in an assembly line. A CCD camera is mounted on the ceiling above the work piece and it looks down on a conveyor belt so that is can clearly images each part. The image is to be segmented automatically to produce a binary image. From that, measurements can be made as part of a quality control process.

i$.$ Outline the how the binarisation could be produced including setting up the lighting.

ii$.$ How could you reduce the effect of noise on the binarisation?

iii. Figure Q$3$a$)$ shows an example of the binarisied image. Figures Q$3$b$)$ Q$3$f$)$ have had morphological operation applied to them. Suggest what each operation was for each image.$$In the images black is zero and the grey has a value of $1.$ The white lines are purely to indicate the pixel boundaries and are not part of the image.