The Image processing is divided in several steps:
(source of the control program)

1. get pictures from camera syncronized with the movement of the laser.A circut is filtering the V-sync signal. At V-sync the laser must be moved to the next fixpoint wich is stored in a table of angles (angle beta).


2. find laser in the taken pictures (source)


3. calculate distance between robot an laser point (source)
   
   


4. make a contrast map (source)


5. compare laser distances with contrast map


6. place objects into separated data fields


7. convert data fields into Pattern files for the neuronal network (source)