A new video rate region color segmentation and classification for sony legged robocup application

Authors:
Aymeric de Cabrol;Patrick Bonnin;Thomas Costis;Vincent Hugel;Pierre Blazevic;Kamel Bouchefra
Affiliations:
Laboratoire de Transport et de Traitement de l'Information L2TI, Institut Galilée, Villetaneuse, France;Laboratoire de Transport et de Traitement de l'Information L2TI, Institut Galilée, Villetaneuse, France;Laboratoire de Mécatronique et Robotique de Versailles, Vélizy, France;Laboratoire de Mécatronique et Robotique de Versailles, Vélizy, France;Laboratoire de Mécatronique et Robotique de Versailles, Vélizy, France;Laboratoire de Mécatronique et Robotique de Versailles, Vélizy, France
Venue:
RoboCup 2005
Year:
2006

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Abstract

Whereas numerous methods are used for vision systems embedded on robots, only a few use colored region segmentation mainly because of the processing time. In this paper, we propose a real-time (i.e. video rate) color region segmentation followed by a robust color classification and region merging dedicated to various applications such as RoboCup four-legged league or an industrial conveyor wheeled robot. Performances of this algorithm and confrontation with other existing methods are provided.