Color Symbol Design and Its Classification for Optical Navigation

• We explored the color symbol design and its recognition in image as reference structure for optical navigation. A colors pair was first determined as foreground and background from HSI color palette and then a color symbol was designed as reference structure. The advantage of using this selected color symbol is a significant reduction, up to 97%, of segmented image components as compared to the grey scale image used. The reduction of segmented components in image will result in saving the hardware resources e.g. memory and processing power which are very important constraint for embedded platforms. A color symbol pattern was designed, comprising of three concentric circles with selected color pair. Inside the inner most circle is the Area Of Interest (AOI), the contents of AOI depends on the particular application. A hardware centric image analysis algorithm is developed for easy and robust recognition. Image components are identified after preprocessing, segmentation and labeling. The color symbol can be recognized at a classification step. Evaluating a variety of viewing angles and reading distances ranging from 30 to 150 degrees and from 1 to 10 meters gives a classification success rate of 72 percent of the positions.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)

Nyckelord

Reference symbol

SNR

Classification

Nearest-neighbors rule

COG

Recognition

Position Measurement

Robotic Navigation

Machine Vision

Publikations- och innehållstyp

vet (ämneskategori)

ovr (ämneskategori)