Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot
Journal of Intelligent and Robotic Systems
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The segmentation method proposed in this paper is based on the observation that a single physical reflectance can have many different image values. We call the set of all these values a dominant colour. These variations are caused by shadows, shading and highlights and due to varying object geometry. The main idea is that dominant colours trace connected ridges in the chromatic histogram. To capture them, we propose a new Ridge based Distribution Analysis (RAD) to find the set of ridges representative of the dominant colour. First, a multilocal creaseness technique followed by a ridge extraction algorithm is proposed. Afterwards, a flooding procedure is performed to find the dominant colours in the histogram. Qualitative results illustrate the ability of our method to obtain excellent results in the presence of shadow and highlight edges. Quantitative results obtained on the Berkeley data set show that our method outperforms state-of-the-art segmentation methods at low computational cost.