Cameras are essential in robots such as self-driving cars that are required to identify objects in the environment. Sensors in the camera return an array of pixels to which image processing algorithms are applied. The first step is to enhance the image to reduce noise and improve the contrast. The techniques used are spatial filters and histogram manipulation. The next step is to extract geometric properties in the image. Edges are identified using derivative filters, corners are identified by comparing pixels to their neighbors, and blobs are identified by comparing neighbors to a global threshold.