Real-Time Image Segmentation for Visual Servoing
Precise and real-time segmentation of color images is a crucial aspect of many applications, where high accuracy and quick response of a system is required. There is a number of algorithms available, but they are either fast or accurate, but not both. This paper describes a modification to one of the fastest color segmentation methods based on constant thresholds. Our idea is to use variable thresholds and merge the results achieving higher precision of color segmentation, comparable with adaptive methods. Using variable thresholds requires multiple passes of the algorithm which is time consuming, but thanks to our modification the processing time can be reduced by up to 50%. The original algorithm as well as the proposed modification are described. The performance of the modified method is tested in a real-time visual servoing application.
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