Modelling and evaluating colour information for robot vision

Colour machine vision system characteristics, such as colour balance, illum ination, random noise, geometrical distortion and non-linearity in sensitiv ity, play a crucial role in forming high quality images. High quality input data help alleviate time consuming and computational expensive algorithms. The evaluation and the trade-offs of the aforementioned parameters are ass erted in this paper. Colour space issues are addressed and the colour fract ion transform is studied over a wide range of lighting conditions. A fast a nd effective algorithm for colour image segmentation based on colour fracti ons coordinates, including experimental results, is also asserted in this p aper. (C) 1999 Elsevier Science Ltd. All rights reserved.