Color indexing：（颜色索引）.pdfVIP

International Journal of ComputerVision, 7:1, 11-32(1991) © 1991KluwerAcademicPublishers, Manufacturedin The Netherlands. Color Indexing MICHAEL J. SWAIN Department of Computer Science, University of Chicago, Chicago, IL 60637 DANA H. BALLARD Department of Computer Science, University of Rochester, Rochester, NY 14627 Received January 22, 1991. Revised June 6, 1991. Abstract Computer vision is embracing a new research focus in which the aim is to develop visual skills for robots that allow them to interact with a dynamic, realistic environment. To achieve this aim, new kinds of vision algorithms need to be developed which run in real time and subserve the robots goals. Two fundamental goals are determin- ing the location of a known object. Color can be successfully used for both tasks. This article demonstrates that color histograms of multicolored objects provide a robust, efficient cue for index- ing into a large database of models. It shows that color histograms are stable object representations in the presence of occlusion and over change in view, and that they can differentiate among a large number of objects. For solving the identification problem, it introduces a technique called Histogram Intersection, which matches model and im- age histograms and a fast incremental version of Histogram Intersection, which allows real-time indexing into a large database of stored models. For solving the location problem it introduces an algorithm called Histogram Backprojection, which performs this task efficiently in crowded scenes. 1 Introduction with a known location, and determining the