Color snakes for dynamic lighting conditions on mobile manipulation platforms.

Conference · Sat Mar 01 00:00:00 EST 2003

OSTI ID:917148

Schaub, Hanspeter; Smith, Christopher Elmer ^[1]

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1. University of New Mexico, Albuquerque, NM

Statistical active contour models (aka statistical pressure snakes) have attractive properties for use in mobile manipulation platforms as both a method for use in visual servoing and as a natural component of a human-computer interface. Unfortunately, the constantly changing illumination expected in outdoor environments presents problems for statistical pressure snakes and for their image gradient-based predecessors. This paper introduces a new color-based variant of statistical pressure snakes that gives superior performance under dynamic lighting conditions and improves upon the previously published results of attempts to incorporate color imagery into active deformable models.

• Research Organization: Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
• Sponsoring Organization: USDOE
• DOE Contract Number: AC04-94AL85000
• OSTI ID: 917148
• Report Number(s): SAND2003-0886C; TRN: US200816%%328
• Resource Relation: Conference: Proposed for presentation at the IROS 2003 Conference held October 27-31, 2003 in Las Vegas, NV.
• Country of Publication: United States
• Language: English

Related Subjects

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION
COLOR
ILLUMINANCE
OUTDOORS
PERFORMANCE
LIGHTING SYSTEMS