Towards automatic colour segmentation for robot soccer
- Resource Type
- Conference
- Authors
- Bailey, Donald; Contreras, Miguel; Sen Gupta, Gourab
- Source
- 2015 6th International Conference on Automation, Robotics and Applications (ICARA) Automation, Robotics and Applications (ICARA), 2015 6th International Conference on. :478-483 Feb, 2015
- Subject
- Aerospace
Bioengineering
Engineering Profession
Robotics and Control Systems
Image color analysis
Cameras
Lighting
Robot vision systems
Field programmable gate arrays
Streaming media
colour transformation
colour thresholding
colour balancing
robot soccer
- Language
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.