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Detecting salient cues through illumination-invariant color ratios

AuthorsTodt, Eduardo; Torras, Carme
KeywordsVisual landmarks
Color constancy
Visual saliency
Visual robot navigation
Issue Date2004
CitationRobotics and Autonomous Systems 48(2): 111-130 (2004)
AbstractThis work presents a novel technique for embedding color constancy into a saliency-based system for detecting potential landmarks in outdoor environments. Since multiscale color opponencies are among the ingredients determining saliency, the idea is to make such opponencies directly invariant to illumination variations, rather than enforcing the invariance of colors themselves. The new technique is compared against the alternative approach of preprocessing the images with a color constancy procedure before entering the saliency system. The first procedure used in the experimental comparison is the well-known image conversion to chromaticity space, and the second one is based on successive lighting intensity and illuminant color normalizations. The proposed technique offers significant advantages over the preceding two ones since, at a lower computational cost, it exhibits higher stability in front of illumination variations and even of slight viewpoint changes, resulting in a better correspondence of visual saliency to potential landmark elements.
Publisher version (URL)http://dx.doi.org/10.1016/j.robot.2004.06.003
Appears in Collections:(IRII) Artículos
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