਀㰀℀䐀伀䌀吀夀倀䔀 栀琀洀氀㸀 ਀㰀栀攀愀搀㸀 ਀㰀洀攀琀愀 渀愀洀攀㴀倀爀漀最䤀搀 挀漀渀琀攀渀琀㴀圀漀爀搀⸀䐀漀挀甀洀攀渀琀㸀 ਀㰀洀攀琀愀 渀愀洀攀㴀伀爀椀最椀渀愀琀漀爀 挀漀渀琀攀渀琀㴀∀䴀椀挀爀漀猀漀昀琀 圀漀爀搀 ㄀㐀∀㸀 ਀㰀琀椀琀氀攀㸀䤀䨀䤀刀䴀䔀吀㨀㨀䘀刀䔀䔀 䨀伀唀刀一䄀䰀 㰀⼀琀椀琀氀攀㸀 ਀㰀氀椀渀欀 爀攀氀㴀琀栀攀洀攀䐀愀琀愀 栀爀攀昀㴀∀㐀㌀开昀椀氀攀猀⼀琀栀攀洀攀搀愀琀愀⸀琀栀洀砀∀㸀 ਀㰀℀ⴀⴀ嬀椀昀 最琀攀 洀猀漀 㤀崀㸀㰀砀洀氀㸀 ਀  㰀眀㨀嘀椀攀眀㸀倀爀椀渀琀㰀⼀眀㨀嘀椀攀眀㸀 82਀  㰀眀㨀匀瀀攀氀氀椀渀最匀琀愀琀攀㸀䌀氀攀愀渀㰀⼀眀㨀匀瀀攀氀氀椀渀最匀琀愀琀攀㸀 Clean਀  㰀眀㨀吀爀愀挀欀䴀漀瘀攀猀㸀昀愀氀猀攀㰀⼀眀㨀吀爀愀挀欀䴀漀瘀攀猀㸀 ਀  㰀眀㨀嘀愀氀椀搀愀琀攀䄀最愀椀渀猀琀匀挀栀攀洀愀猀⼀㸀 false਀  㰀眀㨀䤀最渀漀爀攀䴀椀砀攀搀䌀漀渀琀攀渀琀㸀昀愀氀猀攀㰀⼀眀㨀䤀最渀漀爀攀䴀椀砀攀搀䌀漀渀琀攀渀琀㸀 false਀  㰀眀㨀䐀漀一漀琀倀爀漀洀漀琀攀儀䘀⼀㸀 EN-US਀  㰀眀㨀䰀椀搀吀栀攀洀攀䄀猀椀愀渀㸀堀ⴀ一伀一䔀㰀⼀眀㨀䰀椀搀吀栀攀洀攀䄀猀椀愀渀㸀 X-NONE਀  㰀眀㨀䌀漀洀瀀愀琀椀戀椀氀椀琀礀㸀 ਀   㰀眀㨀匀渀愀瀀吀漀䜀爀椀搀䤀渀䌀攀氀氀⼀㸀 ਀   㰀眀㨀唀猀攀䄀猀椀愀渀䈀爀攀愀欀刀甀氀攀猀⼀㸀 ਀   㰀眀㨀匀瀀氀椀琀倀最䈀爀攀愀欀䄀渀搀倀愀爀愀䴀愀爀欀⼀㸀 ਀   㰀眀㨀䐀漀渀琀䈀爀攀愀欀䌀漀渀猀琀爀愀椀渀攀搀䘀漀爀挀攀搀吀愀戀氀攀猀⼀㸀 ਀   㰀眀㨀圀漀爀搀㄀㄀䬀攀爀渀椀渀最倀愀椀爀猀⼀㸀 ਀  㰀⼀眀㨀䌀漀洀瀀愀琀椀戀椀氀椀琀礀㸀 MicrosoftInternetExplorer4਀  㰀洀㨀洀愀琀栀倀爀㸀 ਀   㰀洀㨀戀爀欀䈀椀渀 洀㨀瘀愀氀㴀∀戀攀昀漀爀攀∀⼀㸀 ਀   㰀洀㨀猀洀愀氀氀䘀爀愀挀 洀㨀瘀愀氀㴀∀漀昀昀∀⼀㸀 ਀   㰀洀㨀氀䴀愀爀最椀渀 洀㨀瘀愀氀㴀∀ ∀⼀㸀 ਀   㰀洀㨀搀攀昀䨀挀 洀㨀瘀愀氀㴀∀挀攀渀琀攀爀䜀爀漀甀瀀∀⼀㸀 ਀   㰀洀㨀椀渀琀䰀椀洀 洀㨀瘀愀氀㴀∀猀甀戀匀甀瀀∀⼀㸀 ਀  㰀⼀洀㨀洀愀琀栀倀爀㸀㰀⼀眀㨀圀漀爀搀䐀漀挀甀洀攀渀琀㸀 ਀㰀洀攀琀愀 挀栀愀爀猀攀琀㴀甀琀昀ⴀ㠀㸀 ਀㰀洀攀琀愀 渀愀洀攀㴀瘀椀攀眀瀀漀爀琀 content="width=device-width, initial-scale=1, maximum-scale=1">਀㰀洀攀琀愀 渀愀洀攀㴀搀攀猀挀爀椀瀀琀椀漀渀 挀漀渀琀攀渀琀㴀∀䤀一吀䔀刀一䄀吀䤀伀一䄀䰀 䨀伀唀刀一䄀䰀 匀䤀吀䔀∀㸀 ਀㰀洀攀琀愀 渀愀洀攀㴀欀攀礀眀漀爀搀猀 content="International Journal, Innovative Research In Science, Engineering and Technology">਀㰀℀ⴀⴀ嬀椀昀 最琀攀 洀猀漀 㤀崀㸀㰀砀洀氀㸀 ਀㰀⼀砀洀氀㸀㰀℀嬀攀渀搀椀昀崀ⴀⴀ㸀㰀℀ⴀⴀ嬀椀昀 最琀攀 洀猀漀 㤀崀㸀㰀砀洀氀㸀 ਀  㰀漀㨀椀搀洀愀瀀 瘀㨀攀砀琀㴀∀攀搀椀琀∀ 搀愀琀愀㴀∀㄀∀⼀㸀 ਀㰀⼀栀攀愀搀㸀 ਀㰀猀琀礀氀攀㸀 body{਀戀愀挀欀最爀漀甀渀搀㨀⌀攀㐀攀㐀攀㐀㬀 }਀㰀⼀猀琀礀氀攀㸀 ਀㰀戀漀搀礀 氀愀渀最㴀䔀一ⴀ䤀一 猀琀礀氀攀㴀✀琀愀戀ⴀ椀渀琀攀爀瘀愀氀㨀㌀㘀⸀ 瀀琀✀㸀 ਀㰀搀椀瘀 挀氀愀猀猀㴀圀漀爀搀匀攀挀琀椀漀渀㄀㸀 ਀㰀栀㌀㸀㰀猀瀀愀渀 氀愀渀最㴀䔀一ⴀ唀匀 猀琀礀氀攀㴀✀洀猀漀ⴀ昀愀爀攀愀猀琀ⴀ昀漀渀琀ⴀ昀愀洀椀氀礀㨀∀吀椀洀攀猀 一攀眀 刀漀洀愀渀∀㬀 mso-ansi-language:EN-US'>Abstract:

Nowadays, the mobile phones (smart phones and pills)਀愀爀攀 搀攀瘀攀氀漀瀀攀搀 眀椀琀栀 挀爀甀挀椀愀氀 椀洀瀀爀漀瘀攀洀攀渀琀猀 椀渀 瀀爀漀挀攀猀猀椀渀最㰀猀瀀愀渀 style='mso-spacerun:yes'>  and ਀㰀⼀猀瀀愀渀㸀洀攀洀漀爀礀㰀猀瀀愀渀 猀琀礀氀攀㴀✀洀猀漀ⴀ猀瀀愀挀攀爀甀渀㨀礀攀猀✀㸀ꀀ 㰀⼀猀瀀愀渀㸀挀愀瀀愀戀椀氀椀琀礀㰀猀瀀愀渀 style='mso-spacerun:yes'>  aswelldigital camera quality, ਀㰀⼀猀瀀愀渀㸀洀愀猀猀椀瘀攀㰀猀瀀愀渀 猀琀礀氀攀㴀✀洀猀漀ⴀ猀瀀愀挀攀爀甀渀㨀礀攀猀✀㸀ꀀ 㰀⼀猀瀀愀渀㸀猀琀漀爀愀最攀 猀瀀愀挀攀㰀猀瀀愀渀 style='mso-spacerun:yes'>  or connectivity that is cordless.reas਀愀猀 琀爀愀椀渀椀渀最Ⰰ 眀攀氀氀渀攀猀猀 㰀猀瀀愀渀 挀氀愀猀猀㴀匀瀀攀氀氀䔀㸀挀 愀爀攀㰀⼀猀瀀愀渀㸀Ⰰ 瀀氀甀猀 琀栀攀 猀攀渀椀漀爀 漀渀 琀栀漀猀攀 grounds,  in਀搀攀瘀攀氀漀瀀椀渀最 渀愀琀椀漀渀猀⸀ 䌀漀渀猀椀搀攀爀椀渀最 琀栀攀 昀愀挀琀 琀栀愀琀Ⰰ 椀渀 琀栀椀猀 瀀愀瀀攀爀 眀攀 瀀爀漀瀀漀猀攀 愀 渀 approach that is new ਀㰀⼀猀瀀愀渀㸀栀愀渀搀氀攀㰀⼀猀瀀愀渀㸀 琀栀攀 最攀猀琀甀爀攀 爀攀挀漀最渀椀琀椀漀渀 椀渀 爀漀戀漀琀椀挀 愀猀猀椀猀琀愀渀琀猀 㰀猀瀀愀渀 class=SpellE>t hat use a mobile d evice as਀瀀爀椀洀愀爀礀 瀀爀漀挀攀猀猀漀爀⸀ 吀漀 戀攀 愀戀氀攀 琀漀 瀀攀爀昀漀爀洀 琀栀攀 爀攀挀漀最渀椀琀椀漀渀 漀甀爀 愀瀀瀀爀漀愀挀栀 洀愀欀攀猀 甀猀攀 of a d that is robust ਀㰀⼀猀瀀愀渀㸀愀挀挀漀爀搀椀渀最㰀⼀猀瀀愀渀㸀 琀漀 瀀漀氀礀最漀渀愀氀㰀猀瀀愀渀 猀琀礀氀攀㴀✀洀猀漀ⴀ猀瀀愀挀攀爀甀渀㨀礀攀猀✀㸀ꀀ approximation, convex hull strategies, therefore the very first seven HU਀洀漀洀攀渀琀猀⸀ 吀栀攀 㰀猀瀀愀渀 挀氀愀猀猀㴀䜀爀愀洀䔀㸀漀甀琀挀漀洀攀 爀攀瘀攀愀氀㰀⼀猀瀀愀渀㸀 㤀㌀─ 愀挀挀甀爀愀挀礀 椀渀 最攀渀甀椀渀攀 situations with various light conditions.

mobile device, robotic associate, computer vision,਀栀愀渀搀 洀漀琀椀漀渀 爀攀挀漀最渀椀琀椀漀渀Ⰰ 愀甀琀漀ⴀ愀搀樀甀猀琀 㰀猀瀀愀渀 挀氀愀猀猀㴀匀瀀攀氀氀䔀㸀琀栀爀攀猀栀漀氀搀椀渀最㰀⼀猀瀀愀渀㸀㰀⼀猀瀀愀渀㸀㰀猀瀀愀渀 lang=EN-US style='mso-fareast-font-family:"Times New Roman";mso-ansi-language:਀䔀一ⴀ唀匀✀㸀㰀漀㨀瀀㸀㰀⼀漀㨀瀀㸀㰀⼀猀瀀愀渀㸀㰀⼀瀀㸀 ਀㰀⼀搀椀瘀㸀 ਀㰀⼀戀漀搀礀㸀 ਀㰀⼀栀琀洀氀㸀