The process continues until a complete spatial map is obtained. Separate Volumetric, Contour and Surface modules have been developed and tested. The Segmentor Control Module has been designed and an initial version of it has been implemented. An orthonormal color metric space, based on physical models of our camera and filters, is used to better represent and process image colors. A white reference object is used to determine the spectral characteristics of scene illumination.
Image segmentation is done by hue and saturation values.
Highlights add whiteness to the object color and can be detected by observing the change in saturation, when objects are uniformly colored. Changes in saturation and hue values are used to detect inter-reflections. Respective of the actual control algorithms used, a complete model of the system is absolutely essential. Such a model of a robot system must account for the dynamics of the robot manipulator, the end effector, the sensor devices, the environment or external object, and the controller itself. Proceedings of the IEEE on Computer Vision , August 1988.