Towards on-board color constancy on mobile robots

Abstract

Color constancy is a relatively recent, but increasingly important, topic in vision research. In this paper we propose a methodology for color constancy on mobile robots. We describe a technique that we have used to solve a subset of the problem, in realtime, based on color space distributions and the KLdivergence measure. We fully implement our technique and present detailed empirical results on a concrete mobile robot task.