A new scene segmentation method based on color information for mobile robot in indoor environment

Abstract

Scene segmentation is the basis of autonomous robots environmental understanding. For scene objects show different color characteristics aggregation in the mobile service robot operating indoor environment, this thesis proposes a scene segmentation method based on color layering and Multi-Size filtering. This paper slices the scene by constructing the color layering model and then designs the multi-size filter, which is designed according to the results of detecting the numbers and size of the connected domains in one layer, to segment the target. This paper also builds a robot operating system and the experiments of global environment and local scene are constructed with an average accuracy of scene segmentation and hierarchical, respectively, reaching 96.2 and 92.5 %. The results show that the method can effectively segment the scenes with salient color features.