Implement an edge detector, for example, the Sobel detector, and compare its output with that of the Canny–Deriche edge detector. Discuss your results.  One technique for localizing a robot in an...

Implement an edge detector, for example, the Sobel detector, and compare its output with that of the Canny–Deriche edge detector. Discuss your results.  One technique for localizing a robot in an office environment is to place targets on the ceiling to uniquely identify locations and to define a local orientation. One commonly used target consists of a large filled circle drawn on a contrasting background (to define position) and a second, smaller filled circle outside the larger circle to define local orientation. Implement an algorithm to find the two circles in an image. One approach would be to use edge detection coupled with the Hough transform to find the centers of the circles, but other approaches are certainly possible.