Page 240 - Introduction to AI Robotics
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6.6 Computer Vision
a. 223
b.
Figure 6.12 Images showing visual erosion of an orange landmark sticking up from
a small robot (not visible): a.) Original image and RGB segmentation and b.) original
image and degradation in RGB segmentation as robot moves farther from camera.
HSI around the limitations of RGB. Such a device would work on the HSI (hue,
HUE saturation, intensity) representation of color. The hue is the dominant wave-
length and does not change with the robot’s relative position or the object’s
SATURATION shape. Saturation is the lack of whiteness in the color; red is saturated, pink is
VALUE less saturated. The value or intensity measure is the quantity of light received
INTENSITY by the sensor. So HSV is a very different color scheme than RGB.
