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| Algorithm 1 UGV pose extraction. | ||
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| 1: | Countors ← FindCountours(Image<gray>) | |
| 2: | if 3 < length(Countors) then | |
| 3: | P ← GetPolygn(Contours) | |
| 4: | Point<px,Py> ← Centroid(P) | |
| 5: | end if | |
| 6: | M ← getMomentums(P) | |
| 7: | α ← Angle(M) | |
| 8: |
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