An Adaptive Color Segmentation Algorithm for Sony Legged Robots

B. Li, H. Hu, and L. Spacek (UK)


Robotics, Computer Vision, Neural Networks, RoboCup


This paper presents an adaptive colour segmentation algorithm for Sony legged robots to play a football game. A Self-Organizing Map (SOM) is adopted to measure the current lighting condition and an Artificial Neural Network (ANN) is implemented to produce a suitable General Color Detection (GCD) table. Off-line learning is conducted in color segmentation in order for Sony-legged robots to adapt to lighting changes in the real world. Experimental results show the good performance of the proposed segmentation algorithm.

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