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Fig. 19 shows the sequence of the introduced image processing. From the left, the raw image (left) and the binary image (center) are shown. There are some noisy luminaries that must be eliminated in the upper portion. The five white points in the lower portion are the dock lights. The last photograph (right) is a processed image. It shows elimination of the noisy luminaries and discrimination of the dock lights. The detected lights of the dock are marked by squares. The estimated center of the dock is also marked.

Fig. 19 shows the sequence of the introduced image processing. From the left, the raw image (left) and the binary image (center) are shown. There are some noisy luminaries that must be eliminated in the upper portion. The five white points in the lower portion are the dock lights. The last photograph (right) is a processed image. It shows elimination of the noisy luminaries and discrimination of the dock lights. The detected lights of the dock are marked by squares. The estimated center of the dock is also marked.

Fig. 16. The docking device with five lights around the rim of the entrance: The location and intensity of the lights is adjustable. (Left) Photo of the dock configuration and (Right) arrangement of the lights.

Fig. 17. Coordinates of the vision system.

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