Color tracking vision system for the autonomous robot

In the current robot vision tracking technology, the color is the most important information for identification and partition, because HSI model is more close to human eye perception of observing color. and the hue (H) parameter are more stable in different light conditions, so it is chose as the main parameters of this system. At the same time, In order to improve the accuracy of identification in different illumination conditions, based on the principle that the apple of human's eye have different reflection to the different illumination, so the value of the second parameter saturation threshold (S) is adjusted dynamically according to the brightness value (I), the run-length coding techniques is used in image fusion process. And the coordinate of barycenter and area of target is calculated which provide the original data for the robot path planning.