... to identify each zero crossing of the LoG as such a feature.Figure 4.23Step function example of second derivative shape and the impact of noise. 1 16 2 16 1 16 2 16 4 16 2 16 1 16 ... pairs.xPPr'lx'ly'lz'l,,()=PPr'rx'ry'rz'r,,()=Rr0r'rr'lr'rRr'lr0+⋅=Rr0x'ry'rz'rr 11 r 12 r 13 r 21 r22r 21 r 31 r32r33x'ly'lz'lr 01 r02r03+=r'rr'lr0r'lPRI=x'ly'lz'l,,()x'ry'rz'r,,(),{} 13 4 ... y'lz'l =z'lz'rr 11 xlf r 12 ylf r 13 ++z'lr 01 +xrf z'r= 14 4 Chapter 4processor within the mobile robot. Intel Corporation’s computer...