Peggy and Kurt

Towards Illumination Invariance in the Legged League

Mohan Sridharan and Peter Stone. Towards Illumination Invariance in the Legged League. In Daniele Nardi, Martin Riedmiller, and Claude Sammut, editors, RoboCup-2004: Robot Soccer World Cup VIII, Lecture Notes in Artificial Intelligence, pp. 196–208, Springer Verlag, Berlin, 2005.
Some videos of robots referenced in the paper.
Official version from Publisher's Webpage© Springer-Verlag

Download

[PDF]245.1kB  [postscript]2.1MB  

Abstract

To date, RoboCup games have all been played under constant, bright lighting conditions. However, in order to meet the overall goal of RoboCup, robots will need to be able to seamlessly handle changing, natural light. One method for doing so is to be able to identify colors regardless of illumination: color constancy. Color constancy is a relatively recent, but increasingly important, topic in vision research. Most approaches so far have focussed on stationary cameras. In this paper we propose a methodology for color constancy on mobile robots. We describe a technique that we have used to solve a subset of the problem, in real-time, based on color space distributions and the KL-divergence measure. We fully implement our technique and present detailed empirical results in a robot soccer scenario.

BibTeX Entry

@Incollection(LNAI2004-vision,
author="Mohan Sridharan and Peter Stone",
title="Towards Illumination Invariance in the Legged League",
booktitle= "{R}obo{C}up-2004: Robot Soccer World Cup {VIII}",
Editor="Daniele Nardi and Martin Riedmiller and Claude Sammut",
Publisher="Springer Verlag",address="Berlin",year="2005",
series="Lecture Notes in Artificial Intelligence",
volume="3276",
pages="196--208",
abstract={
To date, RoboCup games have all been played under
constant, bright lighting conditions. However, in
order to meet the overall goal of RoboCup, robots
will need to be able to seamlessly handle changing,
natural light. One method for doing so is to be able
to identify colors regardless of illumination:
\emph{color constancy}. Color constancy is a
relatively recent, but increasingly important, topic
in vision research. Most approaches so far have
focussed on stationary cameras. In this paper we
propose a methodology for color constancy on mobile
robots. We describe a technique that we have used to
solve a subset of the problem, in real-time, based
on color space distributions and the KL-divergence
measure. We fully implement our technique and
present detailed empirical results in a robot soccer
scenario.
},
)

Valid CSS!
Valid XHTML 1.0!