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Suivi d'objets basé forme et couleur pour la navigation robotique en temps réel

Haythem Ghazouani 1, * 
* Corresponding author
1 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper presents a real-time approach for single-colored ball detection and tracking. The approach consists of two main phases. In a first offline calibration phase, the intrinsic parameters of the camera and the radial distortion are estimated, and a classification of colors is learned from a sample image of colored balls. The second phase consists of four main steps : (1) color segmentation of the input image into several regions based on the offline classification, (2) robust estimation of the circle parameters (3) refinement of the circle parameters, and (4) ball tracking. The experimental results showed that the approach presents a good compromise between suitability for real-time navigation and robustness to occlusions, background congestion and colors interference in the scene.
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Preprints, Working Papers, ...
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Submitted on : Saturday, October 25, 2014 - 3:50:59 PM
Last modification on : Friday, August 5, 2022 - 3:03:31 PM
Long-term archiving on: : Monday, January 26, 2015 - 10:07:30 AM


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  • HAL Id : lirmm-01077566, version 1
  • ARXIV : 1410.3970



Haythem Ghazouani. Suivi d'objets basé forme et couleur pour la navigation robotique en temps réel. 2014. ⟨lirmm-01077566⟩



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