Abstract
We present an approach to color segmentation and object localization for small-embedded systems. The algorithm defines sub-spaces in the main color space (RGB), each sub-space being a color class. A look-up table is used to speed up pixel classification in color classes. A binary image is computed for every color class. After noise reduction, we obtain a color class pixel list; after each object’s image coordinates are found and transformed to world-coordinates depending on the camera position.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
T. Bräunl, B. Graf: Small robot agents with on-board vision and local intelligence. Advanced Robotics, 14 (2000) 51–64. 69, 75
J. Bruce, T. Balch, M. Veloso: Fast and inexpensive color image segmentation for in-teractive robots. In: Proceed. of the IEEE/RSJ Internat. Conf. on Intelligent Robots and Systems, (2000). 69, 70
R. C. Gonzalez, R. E. Woods: Digital Image Processing. Addison Wesley, (1992). 70, 72
J. Brusey, L. Padgham: Techniques for obtaining robust, real-time, color-based vi-sion for robotics. In: IJCAI-99: Proceed. of the 3rd Internat. Workshop on RoboCup, M. Veloso, E. Pagello, H. Kitano, eds., (July 1999). 70
D. Comaniciu, P. Meer: Robust analysis of feature spaces: color image segmen-tation. In: IEEE-Proceed. of the Internat. Conf. on Computer Vision and Pattern Recognition, (June 1997) 750–755. 76
C. Amoroso, A. Chella, V. Morreale, P. Storniolo: A segmentation system for soc-cer robot based on neural networks. In: IJCAI-99: Proceed. of the 3rd Internat. Workshop on RoboCup, M. Veloso, E. Pagello, H. Kitano, eds., (July 1999). 76
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2001 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Leclercq, P., Bräunl, T. (2001). A Color Segmentation Algorithm for Real-Time Object Localization on Small Embedded Systems. In: Klette, R., Peleg, S., Sommer, G. (eds) Robot Vision. RobVis 2001. Lecture Notes in Computer Science, vol 1998. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-44690-7_9
Download citation
DOI: https://doi.org/10.1007/3-540-44690-7_9
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-41694-4
Online ISBN: 978-3-540-44690-3
eBook Packages: Springer Book Archive