Unification of Multichannel Motion Feature Using Boolean Polynomial

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We develop an algorithm to unify features extracted from a multichannel image using the Boolean function. The colour optical flow enables to detect illumination-robust motion features in the environment. Our algorithm robustly detects free-space for robot navigation from a colour video sequence. We experimentally show that colour-optical-flow-based free-space detection is stable against illumination change in an image sequence.