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Research of Ilumination Invariant for Color Image of MiroSot

Author: WangLi
Tutor: SongDaLei
School: Ocean University of China
Course: Control Theory and Control Engineering
Keywords: Soccer Robots Color invariance Dichromatic reflection model Color model
CLC: TP391.41
Type: Master's thesis
Year: 2010
Downloads: 47
Quote: 1
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Abstract


Semi - autonomous robot soccer vision sensor color target identification, the identification of the visual system of the target is based on the color characteristics of the target , the semi - autonomous robot soccer venue , stadium uneven lighting , easy to form the light and dark , shadows and light the appearance of the large difference in the color area , which formed on the same target body , which seriously affect the effectiveness of the color image segmentation algorithm based light become one of the bottlenecks in the soccer robot color image processing . This paper first analyzes the semi-autonomous robot soccer system structure , light soccer robot vision system and the color image light approach . And the theory of color vision and its development has been studied , the details of the three-color theory , color constancy theory , the theory of retina and dichromatic reflection model theory . Dichromatic reflection model based light processing algorithms . The comparative study of various component -based the dichroic emission model various color unchanged through the use of color similarity calculation method based on three-dimensional histogram intersection . Experiments show that , RGB, h , s , YUV clc2c3 when large changes in the light of the energy , reduce their ability to identify the color space 111213 mlm2m3 plp2p3 the recognition capacity is also decreased , but still on the light does not change sensitive. As the soccer robot target recognition based on color features , 11123, mlm2m3, plp2p3 Although it is not sensitive to light changes , but they are the non-linear combination of RGB , is mainly used in the field of image retrieval , not suitable for soccer robot vision system . According to the characteristics of the target color of the semi - autonomous robot soccer using class scatter matrix class scatter matrix and trace criterion 8 colors component extraction , the final proposed color model based on dichromatic reflection model HSv . Finally, describes the various components of the visual system software module functions and program flow , and human-computer interaction interface , by contrast with the color model , verify the actual game platform color model based dichromatic reflection model HSv good color invariance .

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CLC: > Industrial Technology > Automation technology,computer technology > Computing technology,computer technology > Computer applications > Information processing (information processing) > Pattern Recognition and devices > Image recognition device
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