Fig. 4From: ROS-based ground stereo vision detection: implementation and experimentsObject detection process of one selected image. a Original image, b S-channel component, c histogram equal image, d segmentation with the green contour as φ(x, y) = 0, e image with the first iteration, f image with the 20 iterations, g focused image within the RED rectangle and h detected pixel point shown at the original imageBack to article page