Illumination Invariant Color Model for Object Recognition in Robot Soccer

摘要

In this paper, a new illumination invariant color model HSy with large discriminating power is proposed for object recognition in autonomous robot soccer. Object recognition for soccer robot is used as a benchmark problem for the proposed color model. Classical illumination invariant color components are analyzed. New illumination invariant color components are defined based on the dichromatic reflection model. A new color model HSy is constructed by selecting the less correlated components invariant to illumination. The proposed color model is invariant to illumination intensity in the context of the autonomous robot soccer and it yields maximal color discrimination for object recognition. Experiments have been carried out on the soccer robot M-TR for the ball recognition. Experimental results show that the proposed model achieves high object recognition accuracy.