Region-Based Segmentation with Ambiguous Color Classes and 2-D Motion Compensation

Thomas Röfer

In: Ubbo Visser , Fernando Ribeiro , Takeshi Ohashi , Frank Dellaert (Hrsg.). RoboCup 2007: Robot Soccer World Cup XI. RoboCup International Symposium (RoboCup-2007) May 24-27 Atlanta Georgia United States Seiten 369-376 Lecture Notes in Artificial Intelligence (LNAI) 5001 Springer 2008.


This paper presents a new approach for color segmentation, in which colors are not only mapped to unambiguous but also to ambiguous color classes. The ambiguous color classes are resolved based on their unambiguous neighbors in the image. In contrast to other approaches, the neighborhood is determined on the level of regions, not on the level of pixels. Thereby, large regions with ambiguous color classes can be resolved. The method is fast enough to run on a Sony AIBO in real time (30 Hz), leaving enough resources for the other tasks that have to be performed to play soccer. In addition, the paper discusses the problem of motion compensation, ie reversing the effects of a rolling shutter on the images taken by a moving camera.

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Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence