tv_25_2018_4_957_961.pdf (1.14 MB)
Real-time automatic colour calibration for NAO humanoids
journal contribution
posted on 2019-06-10, 12:36 authored by Anastasia Bolotnikova, Gholamreza AnbarjafariA challenge in NAO soccer robots is colour calibration. Good colour calibration can result in robust and accurate self-localization of the robot. Currently manual
calibration is the only solution, which is used. In this paper, we are proposing an automatic real-time, accurate YUV colour space based colour calibration technique. In order
to define average values for the desired colour classes namely orange, white, green and purple, a specified set of frames from the NAO camera are analysed. These average
values are corrected by luminance analysis of a new frame and are passed to the K-means clustering algorithm as a set of initial means. In addition to these four values, a
set of initial means of the K-means algorithm contains 16 values that are calculated in the following manner: the frame being processed is divided into 4 by 4 grids and the
average value from every grid serves as an initial mean for K-means clustering. Consequently, colours of a similar type are combined into clusters. The final step of the
proposed technique is cluster classification in which the average values of the desired colour classes are corrected by luminance analysis. As NAO cameras provide video
streams in YUV format and the proposed algorithm uses this format there is no need for additional computational steps for conversation between the colour spaces. As a
result, computational process is reduced compared to current techniques.
Funding
This work has been partially supported by Estonian Information Technology Foundation, Skype Technologies and Estonian Research Council Grant (PUT638).
History
School
- Loughborough University London
Published in
Tehnički vjesnikVolume
25Pages
957 - 961Citation
BOLOTNIKOVA, A. and ANBARJAFARI, G., 2018. Real-time automatic colour calibration for NAO humanoids. Tehnicki vjesnik, 25(4), pp. 957 - 961.Publisher
© Tehnicki vjesnik – Technical GazetteVersion
- VoR (Version of Record)
Publisher statement
This work is made available according to the conditions of the Creative Commons Attribution 4.0 International (CC BY 4.0) licence. Full details of this licence are available at: http://creativecommons.org/licenses/ by/4.0/Publication date
2018Notes
This is an Open Access Article. It is published by Tehnicki vjesnik – Technical Gazette under the Creative Commons Attribution 4.0 Unported Licence (CC BY). Full details of this licence are available at: http://creativecommons.org/licenses/by/4.0/ISSN
1330-3651eISSN
1848-6339Publisher version
Language
- en
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