Color Extraction Using Multiple Photographs Taken with Different Exposure Time in RWRC

Abstract

Extracting the color of a target object from images in environments with different illumination conditions, such as outdoors, is difficult because color performance changes easily. The novel color extraction we propose enables the exact color of a target object to be extracted using multiple photographs taken with different exposure times. The object’s color performance transits due to changes in exposure time. This transition is the same as when environmental light sources do not change significantly. In outdoor environment, most situations are regarded as that situation. We first indicate this in an experimental analysis, then detail our proposal. Our method evaluates transition and realizes precise color extraction of target objects in outdoors. We apply this method to an orange cap in the Tsukuba Real-World Robot Challenge. Through experiments, we show that the cap is detected accurately in different environments and discuss the method’s effectiveness and usefulness in the real world.