Towards Illumination Invariance in the Legged League

  • Mohan Sridharan
  • Peter Stone
Conference paper

DOI: 10.1007/978-3-540-32256-6_16

Part of the Lecture Notes in Computer Science book series (LNCS, volume 3276)
Cite this paper as:
Sridharan M., Stone P. (2005) Towards Illumination Invariance in the Legged League. In: Nardi D., Riedmiller M., Sammut C., Santos-Victor J. (eds) RoboCup 2004: Robot Soccer World Cup VIII. RoboCup 2004. Lecture Notes in Computer Science, vol 3276. Springer, Berlin, Heidelberg


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 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Mohan Sridharan
    • 1
  • Peter Stone
    • 2
  1. 1.Electrical and Computer EngineeringThe University of Texas at Austin 
  2. 2.Department of Computer SciencesThe University of Texas at Austin 

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