A Color Constancy Algorithm for the Robust Description of Images Collected from a Mobile Robot

  • Jaume Vergés-Llahí
  • Alberto Sanfeliu
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3287)


In mobile robotics, it is necessary to have a robust and efficient way of describing the visual stream provided by a vision system to be used afterwards in tasks such as object recognition. Color histograms are a useful tool to capture and represent color properties of sets of images taken from a certain position. Since those images were obtained at different time and light conditions, their appearance have greatly changed, reducing the performance of the color descriptor. In this work, we develop a color constancy algorithm that copes with the color variation among sets of images taken from nearly the same place. We show that the performance of the color histogram descriptor rises after color constancy, becoming a more robust and useful color descriptor. In the results section, we support that claim with several sets of images of scenes belonging to different positions.


color histograms color constancy mobile robots 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2004

Authors and Affiliations

  • Jaume Vergés-Llahí
    • 1
  • Alberto Sanfeliu
    • 1
  1. 1.Institut de Robòtica i Informàtica Industrial, Technological Park of BarcelonaBarcelona

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