A Fast Method for Adapting Lookup Tables Applied to Changes in Lighting Colour

This paper proposes a simple and fast method for adapting colour lookup tables to lighting changes in real-time. The method adjusts the classified colour space regions keeping both their surface area and volume constant. Two variations of the method were compared and tested in a RoboCup soccer setting. Detection success rate was measured as a function of the speed and magnitude of hue change to the lighting environment. Compared to a static lookup table, these experimental results show improved robustness against lighting changes for detection of coloured objects.

• Type: Journal
• Year: 2015
• Where: ROBOCUP
• Authors: Trent Houliston, Mitchell Metcalfe, Stephan K. Chalup
• Keywords: ROBOCUP 2015, Robotics