Algorithm 2 Independent object recognition

Input: ${\mathit{R}}_{\mathit{t}}$ Output: ${\mathit{C}}_{\mathit{t}}$ 1: ${\mathit{C}}_{\mathit{t}}\leftarrow \mathrm{\varnothing }$ 2: $\mathit{f}\mathit{o}\mathit{r} unallocatedBlob \mathit{i}\mathit{n} {\mathit{R}}_{\mathit{t}}:$ ► A region in ${\mathit{R}}_{\mathit{t}}$ 3: $\mathit{i}\mathit{f} size\left(unallocatedBlob\right)<sizeThresh:$ 4: $\mathit{c}\mathit{o}\mathit{n}\mathit{t}\mathit{i}\mathit{n}\mathit{u}\mathit{e}$ ► Disregard small regions 5: $\mathit{f}\mathit{o}\mathit{r} cluster \mathit{i}\mathit{n} Clusters:$ 6: $\mathit{f}\mathit{o}\mathit{r} blob \mathit{i}\mathit{n} cluster:$ 7: $\mathit{i}\mathit{f} distance\left(blob, unallocatedBlob\right)<distThresh:$ 8: $allocate unallocatedBlob to cluster$ 9: $\mathit{b}\mathit{r}\mathit{e}\mathit{a}\mathit{k}$                  ► Add region to cluster if below distance threshold 10: $\mathit{i}\mathit{f} unallocatedBlob is unallocated:$ 11: $allocate unallocatedBlob to Clusters and set as cluster$ ► Set as new cluster 12: $\mathit{f}\mathit{o}\mathit{r} cluster \mathit{i}\mathit{n} Clusters:$ 13:$append weighed mean position of cluster to {\mathit{C}}_{\mathit{t}}$       ► Append representative position of blob to ${\mathit{C}}_{\mathit{t}}$