An adaptive robot soccer image segmentation based on HSI color space and histogram analysis

We proposed an adaptive image segmentation method based on HSI color space, which can be used for object identification in robot soccer games. This method requires no human intervention, and can guarantee the real-time performance and stability of segmentation to cope with the high real-time requirement and uneven illumination in the competition. Traditional image segmentation methods usually require high computer performance, which cannot be applied to the limited computational power of the robot. The results shows our method has highly accuracy and stability in most of situations. © 2019 Computer Society of the Republic of China. All rights reserved.