Unsupervised recognition of salient colour for real-time image processing

Humans have the subconscious ability to create simple abstractions from observations of their physical environment. The ability to consider the colour of an object in terms of "red" or "blue", rather than spatial distributions of reflected light wavelengths, is vital in processing and communicating information about important features within our local environment. The real-time identification of such features in image processing necessitates the software implementation of such a process; segmenting an image into regions of salient colour, and in doing so reducing the information stored and processed from 3-dimensional pixel values to a simple colour class label. This paper details a method by which colour segmentation may be performed offline and stored in a static look-up table, allowing for constant time dimensionality reduction in an arbitrary environment of coloured features. The machine learning framework requires no human supervision, and its performance is evaluated in terms of feature classification performance within a RoboCup robot soccer environment. The developed system is demonstrated to yield an 8% improvement over slower traditional methods of manual colour mapping