以差異進化演算法為基礎之機器人目標物顏色即時分割系統

An Object Color Segmentation System for the Robot Based on Differential Evolution Algorithm

許書宇(Hsu, Shu-Yu)；許陳鑑(Hsu, Chen-Chien)；王偉彥(Wang, Wei-Yen)

顏色分割 ； 差異進化演算法 ； 連通標記法 ； 人形機器人 ； Color Segmentation ； Differential Evolution ； Connected Component Labeling ； Humanoid Robot

明新學報

42卷2期（2016 / 08 / 01）

1 - 11

繁體中文

機器人進行目標物追蹤時，時常利用影像分割將目標物從背景中擷取出來，以利後續追蹤。本論文中，我們將影像分割結合差異進化演算法與連通標記法，使機器人得以自行預設目標物HSV色彩閥值，並於後續追蹤過程能即時根據環境亮暗調變HSV閥值。我們以ROBOTIS OP2智慧型人型機器人作為實驗平台，針對五種常用的目標物顏色，包括：紅、黃、綠、藍、紫，來進行實驗評估，以驗證本論文提出之機器人目標物顏色即時分割系統。

Color segmentation is widely used for recognizing the visual markers in a robotic tracking system. In our contribution, we propose a new method for color segmentation by incorporating differential evolution algorithm and connected component labeling to autonomously preset the HSV threshold of visual markers; then autonomously change the HSV threshold according to the ambient light during the tracking process. To evaluate the effectiveness of the proposed algorithm, a ROBOTIS OP2 humanoid robot is used to conduct the experiment, where five most commonly used color including red, purple, blue, yellow, and green in visual markers are given for comparisons.

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