Perception II

Method for image classification

Consider a problem with 𝐶 distinct classes, then class c_i 𝑤𝑖𝑡h 𝑖 = 1, ... , 𝐶 is represented as vector 𝑦 ∈ R^c where the 𝑖th element is set 1 and all other elements are 0.

Laser scanners measure reflectivity of a surface independent of laser power and distance

• Diffuse reflection surfaces (street, walls, ...) report values from 0 to 100

• Retroreflectors (traffic signs, license place, ...) report values from 101 to 255

• An ideal reflection would report 255

Laser beams that are shot skywards or exceed the scanner’s maximal range do not result in a measurement