A chromaticity space for specularity, illumination color- and illumination pose-invariant 3-D object recognition

Most of the recent color recognition/indexing approaches concentrate on establishing invariance to illumination color to improve the utility of color recognition. However, other effects caused by illumination pose and specularity on three-dimensional object surfaces have not received notable attention. We present a chromaticity recognition, method that discounts the effects of illumination pose, illumination color and specularity. It utilizes a chromaticity space based on log-ratio of sensor responses for illumination pose and color invariance. A model-based specularity detection/rejection algorithm can be used to improve the chromaticity recognition and illumination estimation for objects including specular reflections.