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

Authors:
Yasunori Takemura;Kazuo Ishii
Affiliations:
Kyushu Institute of Technology, Dept. of Brain Science and System Engineering, Fukuoka, Japan;Kyushu Institute of Technology, Dept. of Brain Science and System Engineering, Fukuoka, Japan
Venue:
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Year:
2009

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Abstract

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.