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How to Choose the Best Color Space for the Guidance of an Indoor Robot?

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In order to help disabled people in their current life, our laboratory develops a system with a mobile robot supporting a camera and an arm manipulator, and guided remotely by the handicapped person. The robot moves in an indoor environment so, in the camera images, much of the informations are related to textures and colors. A previous work permits to localize and guide the robot in 3D space, by use of segments from gray levels stereoscopic vision. Our aim is to use color, so we have to choose the color space, which is the best to detect and match segments. We have built a color images database with some different scenes and we have defined two ways for obtaining a notation for each color space, or color axis. One is an absolute evaluation of the space called “weighted notation” and the other is a comparative evaluation based on the segment histograms from color and gray level images. So, after a test stage, we hope to be able to determine the best three space components, which will be used by the mobile robot.
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Document Type: Research Article

Publication date: January 1, 2002

More about this publication?
  • Started in 2002 and merged with the Color and Imaging Conference (CIC) in 2014, CGIV covered a wide range of topics related to colour and visual information, including color science, computational color, color in computer graphics, color reproduction, volor vision/psychophysics, color image quality, color image processing, and multispectral color science. Drawing papers from researchers, scientists, and engineers worldwide, DGIV offered attendees a unique experience to share with colleagues in industry and academic, and on national and international standards committees. Held every year in Europe, DGIV papers were more academic in their focus and had high student participation rates.

    Please note: For purposes of its Digital Library content, IS&T defines Open Access as papers that will be downloadable in their entirety for free in perpetuity. Copyright restrictions on papers vary; see individual papers for details.

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