Balkenius, C., Johansson, A. J, and Balkenius, A. (2003). Color constancy in visual scene perception. Lund University Cognitive Studies, 98. [PDF]
In RoboCup, all objects in the game are color coded to allow easy segmentation and identification. However, color vision is very sensitive to the exact color of the illumination which makes the identification task much harder than is often anticipated. Algorithms that work in the lab in fluorescent light may not function at all in an actual game where incandescent lights are used. This article is intended as a short tutorial on color vision and demonstrates a method for retrieving the color of image patches independently of the color of the illumination. The computational scheme is tested on a set of images of orange balls on a green background with varying illumination.