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

doi:10.3923/itj.2011.597.601

CORC > 兰州理工大学 > 兰州理工大学

	Research on preprocessing of color image for vision based mobile robot navigation
	Zang, Guo Quan 1,2; Li, Zhan Ming 2
刊名	Information Technology Journal
	2011
卷号	10 期号:3 页码:597-601
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
ISSN号	18125638
DOI	10.3923/itj.2011.597.601
英文摘要	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.
语种	英语
出版者	Asian Network for Scientific Information, 308-Lasani Town, Sargodha Road, Faisalabad, Pakistan
内容类型	期刊论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/111330]
专题	兰州理工大学
作者单位	1.Department of Information Science, Lanzhou Educational Institute, Lanzhou 730020, China 2.College of Electrical Engineering and Information Engineering, Lanzhou University of Technology, Lanzhou 730050, China;
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.