Color Classification Using Adaptive Dichromatic Model采用自适应双色模型颜色分类.ppt

B. On-line Adaptive Color Classification When a game starts, the pre-calibrated color models are used by the vision system for color classification. Meanwhile, an adaptation procedure, shown in Figure 3, is executed to update the color models in real-time in order to adapt to dynamic lighting. Specifically, color classification is performed on all the pixels of an image using the current look-up tables (LUT). * Fig. 3. Flowchart for the on-line color adaptation procedure, which uses a linear combination of the old and new color samples to update the Gaussian mixture of each color class to account for temporal variation of lighting * This process labels each pixel with a color class, either one of the interesting colors or the background. Region growing is then applied using as seeds each of the pixels labeled with an interesting color class to include the neighboring pixels within a threshold color distance. * The purpose of the region growing step is to reduce false negatives, which are the pixels belonging to the color class but not picked up by the classifier due to possibly spatial or temporal variation of illumination. By incorporating these false negatives into the set of measured data, we can have a more accurate measurement of the current color model in order to update the model. * EXPERIMENTAL RESULTS A series of comparison experiments were carried out to examine the robustness of our algorithm under dynamic lighting. Lighting in the experiments varies spatially naturally as the result of uneven distribution of light fixtures in the laboratory where our RoboCup field was set up. In addition, lighting was made to vary temporally by controlling the dimmer in the laboratory. A photographic meter (Minolta Autometer VF) was used to determine illumination, which was found to range from 40 lux to 320 lux on the two extreme ends of darkest and brightest. * The x-axis of all figures in this section represents the frame index that is linearly correlat