A New Video Rate Region Color Segmentation and Classification for Sony Legged RoboCup Application

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.

[1]  Theodosios Pavlidis,et al.  Integrating region growing and edge detection , 1988, Proceedings CVPR '88: The Computer Society Conference on Computer Vision and Pattern Recognition.

[2]  Nick Barnes,et al.  Knowledge-Based Autonomous Dynamic Colour Calibration , 2003, RoboCup.

[3]  Azriel Rosenfeld,et al.  Sequential Operations in Digital Picture Processing , 1966, JACM.

[4]  Rolf Adams,et al.  Seeded Region Growing , 1994, IEEE Trans. Pattern Anal. Mach. Intell..

[5]  David Wang,et al.  The UNSW RoboCup 2002 Legged League Team , 2003 .

[6]  Jan Hoffmann,et al.  A Real-Time Auto-Adjusting Vision System for Robotic Soccer , 2003, RoboCup.

[7]  Avinash C. Kak,et al.  Vision for Mobile Robot Navigation: A Survey , 2002, IEEE Trans. Pattern Anal. Mach. Intell..

[8]  Lutz Priese,et al.  Traffic Sign Recognition Based On Color Image Evaluationion , 1993, Proceedings of the Intelligent Vehicles '93 Symposium.

[9]  Lutz Priese,et al.  A Fast Hybrid Color Segmentation Method , 1993, DAGM-Symposium.

[10]  Javier Ruiz-del-Solar,et al.  Evolving Visual Object Recognition for Legged Robots , 2003, RoboCup.

[11]  Patrick Bonnin.  Methode systematique de conception et de realisation d'applications en vision par ordinateur , 1991 .

[12]  Dominique Duhaut,et al.  Quadruped Robot Guided by Enhanced Vision System and Supervision Modules , 1998, RoboCup.

[13]  Thomas Röfer,et al.  Fast and Robust Edge-Based Localization in the Sony Four-Legged Robot League , 2003, RoboCup.

[14]  R A Kirsch,et al.  Computer determination of the constituent structure of biological images. , 1971, Computers and biomedical research, an international journal.

[15]  M. Silly,et al.  Open-source components for embedded real-time applications , 2002 .

[16]  Steven W. Zucker,et al.  Region growing: Childhood and adolescence* , 1976 .

[17]  P. Bonnin,et al.  A New Edge Point/ Region Cooperative Segmentation Deduced From A 3D Scene Reconstruction Application , 1990, Optics & Photonics.

[18]  Manuela M. Veloso,et al.  Fast and inexpensive color image segmentation for interactive robots , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).