Patent Document ID: 10055850
Application ID: 14637138
Patent Flag: 1

Claim One:
1. A non-transitory computer-readable apparatus comprising a storage medium having instructions embodied thereon, the instructions being executable by a processing apparatus to provide a tracking indication to a robotic platform, wherein the instructions, when executed by the processing apparatus, are configured to: for an image comprising a plurality of pixels and characterized by a color space comprising at least a chromaticity dimension, individual ones of the pixels characterized by one or more pixel characteristics comprising information related to at least the chromaticity dimension, determine at least one pixel occurrence statistics parameter based at least on analysis of the one or more pixel characteristics, the at least one pixel occurrence statistics parameter corresponding to a reference chromaticity within the color space of the image; determine a distance measure between chromaticity of individual pixels within the image and the reference chromaticity, wherein the determination of the reference chromaticity is based on the pixel occurrence statistics parameter, the reference chromaticity being configured to increase a discriminability between a distance measure associated with pixels corresponding to a salient area of the image and a distance measure corresponding to a background area of the image; detect a location of the salient area in the image corresponding to saliency when the at least one pixel occurrence statistics parameter breaches a threshold level, the threshold level being determined by a given physical task of the robotic platform.