A Colour Constancy Approach for Illumination Invariant Colour Target Tracking

Many robotic agents use color vision to retrieve quality information about the environment. In this work, we present a visual servoing technique, where vision is the primary sensing modality and sensing is based upon the analysis of the perceived visual information. We describe how colored targets can be identified and how their position and motion can be estimated quickly and reliably. The visual servoing procedure is essentially a four-stage process, with color target identification, motion parameter estimation, target tracking and target position estimation. These individual parts add up to a global vision system enabling precise positioning for a demining robot.