Color-Based Object Identifier Using LVQ

1. Color-Based Object Identifier Using LVQ Baxter Smith Term 8 Computer Engineering

2. Outline • Intro: Color-Based Object Identification • Why do I want to use it? Why LVQ? • Implementation of CBOI • Results • Conclusions

3. Color-Based Object Identification • Classifying an object in an image based on its color • Red = CokeBlue = PepsiGreen = SpriteBeige = Floor

4. Why did I choose this project? • Member of Intelligent Systems Laboratory at C-CORE • Robots to aid people in Harsh Environments • Sambuca: Currently uses Greyscale images for Vision

5. Why LVQ? • Each color is a 3D vector ie RGB • All Reds are not the same • LVQ stores general direction of a color

6. Implementation • Classifies each pixel of an image:Input: 3 Nodes ie RGBHidden: 10 Nodes ie light, med, dark + beigeOutput: 4 Nodes ie Red Green Blue Beige

7. Neural Network dR Map to Class mR Map to Subclass Output lR Input R R dG G G mG B B lG Y dB mB lB Y

8. Training • Extract color from sample images of environment

9. Results

10. Conclusion • Works Great! • Hopefully can extend to other colors in a less constrained environment