Dynamic colour adaptation for colour object tracking

This manuscript describes an implementation of a system that can adaptively cope with the task of robust colour identification in the domain of robot soccer. The main challenge is to perform this in an environment of changing light conditions and/or cameras used. The camera setup is first characterised using common techniques from colour management with ICC profiles. In a second step current light conditions are compensated for by means of an affine colour transformation determined repeatedly at runtime. Lastly, a self learning hybrid fuzzy colour contrast fusion algorithm is used to discriminate the detected colours optimally against each other. This enables the system to robustly and efficiently identify individual players and objects on the playing field.