B. Li, H. Hu, and L. Spacek (UK)
Robotics, Computer Vision, Neural Networks, RoboCup
This paper presents an adaptive colour segmentation algorithm for Sony legged robots to play a football game. A Self-Organizing Map (SOM) is adopted to measure the current lighting condition and an Artificial Neural Network (ANN) is implemented to produce a suitable General Color Detection (GCD) table. Off-line learning is conducted in color segmentation in order for Sony-legged robots to adapt to lighting changes in the real world. Experimental results show the good performance of the proposed segmentation algorithm.
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