a smart car is guided by a colour vision system. one of the camera outputs a RGB colour image which transformed into a intensity image. there are $10$ pixel which belongs to theRefer to Figure $2($a$).$ A smart car is guided by a color vision system. One of its camera

outputs RGB color image which is then transformed into the corresponding $L^{**}{a}^{**}b$

color image. Assume that we focus on the use of the intensity image $($i$.$e$.$ L components

of the $L^{**}a*$ color image$).$ Inside the intensity image, the pixels with intensity values

above $30$ belong to the left white landmark as shown in Figure $2($b$).$

$($a$)$ There are $10$ pixels which belong to the white landmark. The intensity values of the

white landmark's $10$ pixels are shown in Figure $2($b$).$ What is the possibility function

which could be used to determine whether a pixel value $L$ in Figure $2($b$)$ belongs to the

white landmark or not?

$(10$ marks$)$

$($b$)$ There are $10$ pixels which belong to the white landmark. Given the locations of these

$10$ pixels as shown in Figure $2($b$),$ what is the estimated line equation of the left white

landmark inside the index image coordinate system ouv?

$(10$ marks$)$

$($c$)$ What is the possibility function which could be used to determine whether a pixel

location $($u$,$v$)$ in Figure $2($b$)$ belongs to the left white landmark or not?

$(10$ marks$)$

$($a$)$ Smart Car Guided By Color Vision System

$($b$)$ Intensity Image $($i$.$e$.L$ component of $L^{**}{a}^{**}b$ color image$)$