Table of Contents
 

CHAPTER 1                                                                                                                                                 1

INTRODUCTION                                                                                                                             1

1.1 COMPUTER VISION                                                                                                                 1

1.1.1 BRIEF HISTORY                                                                                                                     2

1.1.2 THE ROLE OF COLORS                                                                                                        5

1.2 DESCRIPTION OF THE SUSAN B.PROJECT                                                                       6

1.3 PLACE RECOGNITION USING COLOR REGION ANALYSIS                                         7

1.4 ORGANIZATION OF THESIS                                                                                                10

 CHAPTER 2                                                                                                                                               13 THEORETICAL ISSUES BEHIND THE EXPERIMENTS                                                        13

2.1 COLOR SENSATION                                                                                                              13

2.2 RELATED RESEARCH APPLYING COLOR                                                                       15

2.3 STANDARD COLOR MEASUREMENTS                                                                            17

2.3.1 MUNSELL COLOR CHARTS                                                                                             17

2.3.2 COLOR REPRESENTATIONS NOWADAYS                                                                   18

2.4 COLOR PERCEPTION                                                                                                           21

2.5 THE ENVIRONMENT MODEL                                                                                            23

 CHAPTER 3 32 COLOR MEASUREMENT EXPERIMENTS                                                                             32

3.1 COLOR CLASSIFICATION                                                                                                   33

3.1.1 BASIC COLOR TERMS                                                                                                      33

3.1.2 EXPERIMENTS WITH COLOR CLASSIFICATION                                                      36

3.1.2.1 RGB                                                                                                                          37

3.1.2.2 COLOR-INTENSITY                                                                                              37

3.1.2.3 NEW SET OF COLOR TERMS                                                                            39

 3.2 SURFACE REFLECTANCE MEASURES                                                                           40 3.2.1 COMPUTING SURFACE REFLECTANCE MEASURES                                    41

3.2.2 RELATED RESEARCH RESULTS                                                                         44

3.2.3 OUR IMPLEMENTATION                                                                                      45

3.2.4 REFLECTANCE MEASURES OF ENVIRONMENT SURFACES                     48

 3.3 SINGLE REFERENCE VALUE                                                                                            50

3.4 CAMERA DISTORTIONS                                                                                                    53

3.5 THE LINEARIZATION PROCESS                                                                                      56

3.5.1 LINEARIZATION CALCULATIONS                                                                     59

3.5.2 ADVANCED LINEARIZATION ALGORITHM                                                    65

3.5.3 APPLICATION                                                                                                           72

 3.6 COLLECTING SURFACE REFLECTANCE MEASURES                                                73 CHAPTER 4                                                                                                                                             75 COLOR IDENTIFICATION                                                                                                        75

4.1 COLOR IDENTIFICATION ALGORITHMS                                                                      77

4.1.1 GUIDE TO EVALUATION TABLES                                                                                 79

4.2 TRANSFORMATION EVALUATOR OPTIONS                                                                83

4.2.1 EUCLIDEAN DISTANCE                                                                                                   83

4.2.2 VARIANCE                                                                                                                          84

4.2.3 "RATIO"                                                                                                                              85

4.3 MODIFICATIONS TO THE ALGORITHM                                                                       86

4.3.1 MODIFYING THE NUMBER OF ITERATIONS (1)                                                      86

4.3.2 MODIFYING THE NUMBER OF ITERATIONS (2)                                                      87

4.3.3 NORMALIZED EUCLIDEAN DISTANCE                                                                      88

4.4 THE INITIALLY ANALYZED REFLECTANCE                                                                 89

4.5 NUMBER OF EXAMINED REGIONS                                                                               91

4.6 IDENTIFICATION OF CONFIDENCE MEASURES                                                        92

4.6.1 SIMULTANEOUS DOUBLE MATCHING                                                            93 4.7 LIMITATION ON "INITIAL" REGIONS                                                                          95

4.8 MISIDENTIFICATION OR UNKNOWN OBJECT?                                                        97

4.9 NUMBER OF COLORS IN THE LOCALE MODEL                                                       98

 CHAPTER 5                                                                                                                                         100 SCENE IDENTIFICATION                                                                                                      100

5.1 SCENE IDENTIFICATION PROCEDURE                                                                      101

5.2 THE LOCALE TREE NODE                                                                                              101

5.2.1 TREE STRUCTURE                                                                                                        104

5.2.2 BOTTOM-UP SCENE IDENTIFICATION                                                                   106

5.2.3 IDEAS FOR FUTURE STUDY                                                                                       111

5.2.4 TOP-DOWN SCENE IDENTIFICATION                                                                     112

 CHAPTER 6                                                                                                                                        114 CONCLUSION AND DISCUSSION                                                                                      114

6.1 SUMMARY OF ACHIEVEMENTS                                                                                 114

6.2 DISCUSSION                                                                                                                     119

6.2.1 IDEAS FOR IMPROVEMENT AND FUTURE WORK                                   119 6.2.1.1 HUE-INTENSITY-SATURATION CALCULATIONS                                              120

6.2.1.2 NEURAL NETWORKS                                                                                               123

6.2.1.3 AN EXTENDED LOCALE MODEL                                                                          124

6.2.1.4 UNKNOWN OBJECTS?                                                                                             125

6.2.1.5 TOP-DOWN SPACE IDENTIFICATION                                                                  126

6.2.1.6 MORE EFFICIENT NEIGHBOR SEARCH                                                             126

6.2.1.7 CONFIDENCE VALUE ASSIGNMENTS                                                                 127

 REFERENCES                                                                                                                                   128

APPNEDIX A                                                                                                                                     134/5

APPNEDIX B

APPNEDIX C

APPNEDIX D

APPNEDIX E