Color object recognition methods that are based on image retrieval algorithms can handle changes of illumination via image normalization, e.g. simple color-channel-normalization1 or by forming a doubly-stochastic image matrix.2 However these methods fail if the object sought is surrounded by clutter. Rather than directly trying to nd the target, a viable approach is to grow a small number of feature regions called locales.3 These are de ned as a nondisjoint coarse localization based on image tiles. In this paper, locales are grown based on chromaticity, which is more insensitive to illumination change than is color. Using a diagonal model of illumination change, a least-squares optimization on chromaticity recovers the best set of diagonal coe cients for candidate assignments from model to test locales stored in a database. If locale centroids are also stored then, adapting a displacement model to include model locale weights, transformed pose and scale can be recovered. Tests on data...
Mark S. Drew, Zinovi Tauber, Ze-Nian Li