Abstract
Color segmentation is typically the first step of vision processing for a robot operating in a color-coded environment, such as RoboCup soccer, and many object recognition modules rely on that.
Although many approaches to color segmentation have been proposed, in the official games of the RoboCup Four Legged League manual calibration is still preferred by most of the teams. In this paper we present a method for color segmentation that is based on an adaptive transformation of the color distribution of the image: the transformation is dynamically computed depending on the current image (i.e., it adapts to condition changes) and then it is used for color segmentation with static thresholds. The method requires the setting of only a few parameters and has been proved to be very robust to noise and light variations, allowing for setting parameters only once when arriving at a competition site.
The approach has been implemented on AIBO robots, extensively tested in our laboratory, and successfully experimented in the some of the games of the Four Legged League in RoboCup 2005.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Anzani, F., Bosisio, D., Matteucci, M., Sorrenti, D.G.: On-line color calibration in non-stationary environments. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020, Springer, Heidelberg (2006)
Jüngel, M.: Using layered color precision for a self-calibrating vision system. In: Nardi, D., Riedmiller, M., Sammut, C., Santos-Victor, J. (eds.) RoboCup 2004. LNCS (LNAI), vol. 3276, Springer, Heidelberg (2005)
Lovell, N.: Illumination independent object recognition. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020, Springer, Heidelberg (2006)
Nisticò, W., Röfer, T.: Improving percept reliability in the sony four legged league. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020, Springer, Heidelberg (2006)
Sridharan, M., Stone, P.: Autonomous color learning on a mobile robot. In: Proc. of AAAI (2005)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Iocchi, L. (2007). Robust Color Segmentation Through Adaptive Color Distribution Transformation. In: Lakemeyer, G., Sklar, E., Sorrenti, D.G., Takahashi, T. (eds) RoboCup 2006: Robot Soccer World Cup X. RoboCup 2006. Lecture Notes in Computer Science(), vol 4434. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74024-7_25
Download citation
DOI: https://doi.org/10.1007/978-3-540-74024-7_25
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74023-0
Online ISBN: 978-3-540-74024-7
eBook Packages: Computer ScienceComputer Science (R0)