Evolutionary Generation Based Color Detection Technique for Object Identification in Degraded Robot Vision

This paper introduces GP(Genetic Programming) based color detection model for an object detection of humanoid robot vision. Existing color detection methods have used linear/nonlinear transformation of RGB color-model. However, most of cases have difficulties to classify colors satisfactory because of interference of among color channels and susceptibility for illumination variation. Especially, they are outstanding in degraded images from robot vision. To solve these problems, we propose illumination robust and non-parametric multi-colors detection model using evolution of GP. The proposed method is compared to the existing color-models for various environments in robot vision for real humanoid Nao.

저하된 로봇 비전에서의 물체 인식을 위한 진화적 생성 기반의 컬러 검출 기법