Research on visual segmentation and localization of multi-robots under different lighting conditions

Abstract

In the vision-based segmentation and localization of mobile robots, a change in light will greatly influence the accuracy of segmentation and localization. To obtain accurate positions of multi-robots under different lighting conditions, a threshold segmentation combining histogram equalization and cluster analysis algorithm based on the designed color label plate is presented. First, the local regions of interest of mobile robots are obtained and the histograms of the regions of interest are equalized, which normalizes the video image under different lighting conditions. Then, the accurate segmentation threshold values for the color label plates of multi-robots are calculated based on cluster analysis in the YUV color space of regions of interest. After that, the segmentation and localization of multi-robots based on the segmentation threshold value are realized. Compared with other segmentation algorithms, the proposed threshold segmentation combining histogram equalization and cluster analysis algorithm can not only guarantee fast segmentation but also is characterized by better segementation robustness and higher localization accuracy. Finally, based on the proposed visual segmentation and localization algorithm, a trajectory tracking experiment of a mobile robot is carried out, which further supports the real-time performance of the proposed threshold segmentation combining histogram equalization and cluster analysis algorithm in the practical application.