Research on preprocessing of color image for vision based mobile robot navigation

doi:10.3923/itj.2011.597.601

	Research on preprocessing of color image for vision based mobile robot navigation
	Zang, Guo Quan 1,2; Li, Zhan Ming 1
	2011
发表期刊	Information Technology Journal
ISSN	18125638
卷号	10 期号:3 页码:597-601
摘要	There are special requirements on image processing in speed and robustness for vision based mobile robot navigation. But mobile robot captured scene color image's processing has a high computational complexity and low robustness. To reduce data volume and improve robustness, a novel preprocessing method on color image for mobile robot navigation based on principle of threshold segmentation in HSV color space is proposed. Firstly, color image changed from GRB to HSV. Thinking of H component is instable when saturation level is too low, so the principle for single threshold gray image segmentation be used to choose a threshold T on S and divide S into high saturation and low saturation region, we can use H as segmentation basis in high saturation region and V in low saturation region. Then project H component to high saturation region and V component to low saturation region, H and V is stretched to different scope after projection. So, the S component contains not only color information but also gray information and reduces color image from three-dimentions to two-dimentions. Experimental results show that this method has more significant effects in improving the processing speed and robustness of illumination variation and shadows. © 2011 Asian Network for Scientific Information.
关键词	Color Computer vision Image enhancement Image segmentation Mobile robots Navigation Color images Gray image segmentation Illumination variation Image preprocessing Mobile Robot Navigation Threshold segmentation Vision based navigation Vision-based mobile robots
DOI	10.3923/itj.2011.597.601
收录类别	EI
语种	英语
出版者	Asian Network for Scientific Information, 308-Lasani Town, Sargodha Road, Faisalabad, Pakistan
EI入藏号	20110313589978
EI主题词	Color image processing
EI分类号	731.5 Robotics - 741.1 Light/Optics - 741.2 Vision
来源库	Compendex
分类代码	731.5 Robotics - 741.1 Light/Optics - 741.2 Vision
引用统计	无
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/111330
专题	兰州理工大学
作者单位	1.College of Electrical Engineering and Information Engineering, Lanzhou University of Technology, Lanzhou 730050, China; 2.Department of Information Science, Lanzhou Educational Institute, Lanzhou 730020, China
第一作者单位	兰州理工大学
第一作者的第一单位	兰州理工大学
推荐引用方式 GB/T 7714	Zang, Guo Quan,Li, Zhan Ming. Research on preprocessing of color image for vision based mobile robot navigation[J]. Information Technology Journal,2011,10(3):597-601.
APA	Zang, Guo Quan,&Li, Zhan Ming.(2011).Research on preprocessing of color image for vision based mobile robot navigation.Information Technology Journal,10(3),597-601.
MLA	Zang, Guo Quan,et al."Research on preprocessing of color image for vision based mobile robot navigation".Information Technology Journal 10.3(2011):597-601.