Development of the color constancy vision algorithms using bio-inspired information processing

One of important subjects for mobile robots is the vision based decision-making system with environmental recognition. In order to extract features from obtained images, how to realize color constancy by adjusting color property is the important technical issue. We have been working on color constancy vision algorithms using bio-inspired information processing methods as self-organizing map (SOM), modular network SOM (mnSOM) and neural gas (NG). In this paper, we introduce the color constancy algorithms to a mobile robot platform for RoboCup middle size league and evaluate the performances through a vision based self-localization problem in various light conditions.