Abstract
We are studying on a color change of a ball image captured by a camera on a humanoid robot. In RoboCup Humanoid League, most robots detect objects such as a ball or robots by color-based image processing. Object colors are categorized using a pre-calibrated look-up table. However, color of the ball is changed according to a distance from the camera to the ball. Therefore, we conducted to clarify the mechanism of the color change of the ball. Through experiments, we found that one of the reasons is related to a low pass filter in the camera. We propose a model of the color change and evaluate its effectiveness.
