Analysis of Camera's Images Influenced by Varying Light Illumination for Design of Color Segmentation

Cameras are excellent sensors in robotic systems. However, a camera being extreme sensitive to illumination variation restricts its capability. In this paper, color image segmentation of a camera influenced by varying light illumination is studied for extending camera’s capability in the future. The influence of an image captured by camera due to varying light illumination is analyzed. The components of image data represented by colors make the influence of varying light illumination visible for conveniently analyzing. In the analysis, the change rules of the YUV components due to varying illumination is induced to formulate a database consisted of the set of boundaries. Based on the database, an adaptive algorithm for color segmentation against unstable lighting is proposed. The development of the algorithm is summarized by a design procedure. Practical experiments demonstrate the performance of the proposed algorithm. In addition, the adaptive algorithm against uncertain light illumination is included.