Fast and inexpensive color image segmentation for interactive robots
نویسندگان
چکیده
Vision systems employing region segmentation by color are crucial in real-time mobile robot applications, such as RoboCup[1], or other domains where interaction with humans or a dynamic world is required. Traditionally, systems employing real-time color-based segmentation are either implemented in hardware, or as very specific software systems that take advantage of domain knowledge to attain the necessary efficiency. However, we have found that with careful attention to algorithm efficiency, fast color image segmentation can be accomplished using commodity image capture and CPU hardware. Our paper describes a system capable of tracking several hundred regions of up to 32 colors at 30 Hertz on general purpose commodity hardware. The software system is composed of four main parts; a novel implementation of a threshold classifier, a merging system to form regions through connected components, a separation and sorting system that gathers various region features, and a top down merging heuristic to approximate perceptual grouping. A key to the efficiency of our approach is a new method for accomplishing color space thresholding that enables a pixel to be classified into one or more of up to 32 colors using only two logical AND operations. A naive approach could require up to 192 comparisons for the same classification. The algorithms and representations are described, as well as descriptions of three applications in which it has been used.
منابع مشابه
مدلسازی صفحهای محیطهای داخلی با استفاده از تصاویر RGB-D
In robotic applications and especially 3D map generation of indoor environments, analyzing RGB-D images have become a key problem. The mapping problem is one of the most important problems in creating autonomous mobile robots. Autonomous mobile robots are used in mine excavation, rescue missions in collapsed buildings and even planets’ exploration. Furthermore, indoor mapping is beneficial in f...
متن کاملFast and Cheap Color Image Segmentation for Interactive Robots
Vision systems employing region segmentation by color are crucial in real-time interactive mobile robot applications such as object tracking (e.g. the ball in RoboCup soccer) and various forms of robot/human interaction. Traditionally, systems employing real-time color-based segmentation are either implemented in hardware, or as very specific software systems that take advantage of domain knowl...
متن کاملPerformance Analysis of Segmentation of Hyperspectral Images Based on Color Image Segmentation
Image segmentation is a fundamental approach in the field of image processing and based on user’s application .This paper propose an original and simple segmentation strategy based on the EM approach that resolves many informatics problems about hyperspectral images which are observed by airborne sensors. In a first step, to simplify the input color textured image into a color image without tex...
متن کاملRobust Potato Color Image Segmentation using Adaptive Fuzzy Inference System
Potato image segmentation is an important part of image-based potato defect detection. This paper presents a robust potato color image segmentation through a combination of a fuzzy rule based system, an image thresholding based on Genetic Algorithm (GA) optimization and morphological operators. The proposed potato color image segmentation is robust against variation of background, distance and ...
متن کاملMinDART : A Multi-Robot Search & Retrieval System
We are interested in studying how environmental and control factors affect the performance of a homogeneous multi-robot team doing a search and retrieval task. We have constructed a group of inexpensive robots called the Minnesota Distributed Autonomous Robot Team (MinDART) which use simple sensors and actuators to complete their tasks. We have upgraded these robots with the CMUCam, an inexpens...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2000