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Proceedings Paper

Video rate color region segmentation for mobile robotic applications
Author(s): Aymeric de Cabrol; Patrick J. Bonnin; Vincent Hugel; Pierre Blazevic; Maryline Chetto
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Paper Abstract

Color Region may be an interesting image feature to extract for visual tasks in robotics, such as navigation and obstacle avoidance. But, whereas numerous methods are used for vision systems embedded on robots, only a few use this segmentation mainly because of the processing duration. In this paper, we propose a new real-time (ie. video rate) color region segmentation followed by a robust color classification and a merging of regions, dedicated to various applications such as RoboCup four-legged league or an industrial conveyor wheeled robot. Performances of this algorithm and confrontation with other methods, in terms of result quality and temporal performances are provided. For better quality results, the obtained speed up is between 2 and 4. For same quality results, the it is up to 10. We present also the outlines of the Dynamic Vision System of the CLEOPATRE Project - for which this segmentation has been developed - and the Clear Box Methodology which allowed us to create the new color region segmentation from the evaluation and the knowledge of other well known segmentations.

Paper Details

Date Published: 15 September 2005
PDF: 12 pages
Proc. SPIE 5909, Applications of Digital Image Processing XXVIII, 59091E (15 September 2005); doi: 10.1117/12.614543
Show Author Affiliations
Aymeric de Cabrol, L2TI-Lab. de Traitement et Transport de l'Information (France)
Patrick J. Bonnin, LRV-Lab. de Robotique de Versailles (France)
Vincent Hugel, LRV-Lab. de Robotique de Versailles (France)
Pierre Blazevic, LRV-Lab. de Robotique de Versailles (France)
Maryline Chetto, LINA-Lab. d'Informatique de Nantes Atlantique (France)

Published in SPIE Proceedings Vol. 5909:
Applications of Digital Image Processing XXVIII
Andrew G. Tescher, Editor(s)

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