Fast and inexpensive color image segmentation for interactive robots


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.

DOI: 10.1109/IROS.2000.895274

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@inproceedings{Bruce2000FastAI, title={Fast and inexpensive color image segmentation for interactive robots}, author={James Bruce and Tucker R. Balch and Manuela M. Veloso}, booktitle={IROS}, year={2000} }