RoboCup 2004: Robot Soccer World Cup VIII

Volume 3276 of the series Lecture Notes in Computer Science pp 196-208

Towards Illumination Invariance in the Legged League

  • Mohan SridharanAffiliated withElectrical and Computer Engineering, The University of Texas at Austin
  • , Peter StoneAffiliated withDepartment of Computer Sciences, The University of Texas at Austin

* Final gross prices may vary according to local VAT.

Get Access


To date, RoboCup games have all been played under constant, bright lighting conditions. However, in order to meet the overall goal of RoboCup, robots will need to be able to seamlessly handle changing, natural light. One method for doing so is to be able to identify colors regardless of illumination: color constancy. Color constancy is a relatively recent, but increasingly important, topic in vision research. Most approaches so far have focussed on stationary cameras. In this paper we propose a methodology for color constancy on mobile robots. We describe a technique that we have used to solve a subset of the problem, in real-time, based on color space distributions and the KL-divergence measure. We fully implement our technique and present detailed empirical results in a robot soccer scenario.


Illumination invariance Color constancy KL-divergence mobile robots