Real-Time Image Segmentation for Visual Servoing

  • Witold Czajewski
  • Maciej Staniak
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4432)


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.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Bouguet, J.: Camera Calibration Toolbox for Matlab,
  2. 2.
    Bruce, J., Balch, T., Veloso, M.: Fast and Inexpensive Color Image Segmentation for Interactive Robots. In: Proc. IROS (2000)Google Scholar
  3. 3.
    Heikkla, J., Silvn, O.: A four-step camera calibration procedure with implicit image correction. In: 1997 IEEE Computer Society Conf. on Computer Vision and Pattern Recognition, San Juan, Puerto Rico, pp. 1106–1113 (1997)Google Scholar
  4. 4.
    Horaud, R.: New methods for matching 3D objects with single perspective view. IEEE Trans. on Pattern Analysis and Machine Intelligence 9(3), 401–412 (1987)CrossRefGoogle Scholar
  5. 5.
    Hutchinson, S.A., Hager, G.D., Corke, P.I.: A tutorial on visual servo control. IEEE Trans. on Robotics and Automation 12(5), 651–670 (1996)CrossRefGoogle Scholar
  6. 6.
    Zieliński, C., Szynkiewicz, W., Winiarski, T., Staniak, M.: Rubik’s Cube Puzzle as a Benchmark for Service Robots. In: MMAR (2006)Google Scholar
  7. 7.
    Zieliński, C.: The MRROC++ system. In: 1st Workshop on Robot Motion and Control, RoMoCo’99, Kiekrz, Poland, pp. 147–152 (1999)Google Scholar

Copyright information

© Springer Berlin Heidelberg 2007

Authors and Affiliations

  • Witold Czajewski
    • 1
  • Maciej Staniak
    • 2
  1. 1.Institute of Control and Industrial Electronics, Warsaw University of Technology, ul. Koszykowa 75, 00-662 WarszawaPoland
  2. 2.Institute of Control and Computation Engineering, Warsaw University of Technology, ul. Nowowiejska 15/19, 00-665 WarszawaPoland

Personalised recommendations