Recognition of the light buoy for scan the code mission in 2016 Maritime RobotX Challenge

This paper describes about the team SNU MACRO'S strategy for scan the code mission in Maritime RobotX Challenge. Before describing the specific algorithm for scan the code mission, our vehicle system which was developed for completing each mission for the competition is outlined briefly. To recognize the LED color of the buoy, image processing algorithm is divided into three step, including preprocessing, extraction and recognition. In preprocessing step, color space conversion is conducted. And then, it extracts the candidate region that's the location of light buoy in whole image using LiDAR information. Finally, recognize the current LED's color using the mean value of hue component. The field experiments and competition's result validate the performance of the proposed approach.