Title :
Towards automatic colour segmentation for robot soccer
Author :
Bailey, Donald ; Contreras, Miguel ; Sen Gupta, Gourab
Author_Institution :
Sch. of Eng. & Adv. Technol., Massey Univ., Palmerston North, New Zealand
Abstract :
Tuning the colour thresholds within robot soccer is laborious, and sensitive to changes in illumination. An algorithm for automatic gain control and white balancing within the camera is described. This significantly reduces the effects of the variations in lighting on the thresholds. Next, a new colour space is proposed which maximises the hue separation of the different coloured regions to improve the colour discrimination. Finally several automatic segmentation techniques are briefly discussed. All of the algorithms are designed to operate on data directly streamed from the camera, enabling a low latency FPGA implementation.
Keywords :
cameras; field programmable gate arrays; image colour analysis; image segmentation; mobile robots; robot vision; sport; automatic colour segmentation; automatic gain control algorithm; automatic segmentation technique; camera; colour discrimination; colour space; colour threshold tuning; coloured regions; hue separation; illumination changes; lighting variation effects reduction; low latency FPGA implementation; robot soccer; white balancing; Cameras; Field programmable gate arrays; Image color analysis; Lighting; Robot vision systems; Streaming media; colour balancing; colour thresholding; colour transformation; robot soccer;
Conference_Titel :
Automation, Robotics and Applications (ICARA), 2015 6th International Conference on
Conference_Location :
Queenstown
DOI :
10.1109/ICARA.2015.7081195
