Submitted version of the thesis - Airlab, the Artificial Intelligence ...

5.2. Color Definition 63
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Figure 5.5: The histogram formed from the samples taken for each color channel.
a viewer will be able to judge the entire color distribution at a glance. For
this we wrote a scriptin Matlab. We took as many samples as we could from
the environment where the object is placed in different lighting conditions.
From the sample images captured, the part with the object is cropped
(area with the target color) in order to find the color distribution of the
pixels forming the object.
(a) Mask R (b) Mask G (c) Mask B
Figure 5.6: The mask for each channel by setting the upper and lower bounds.
From that histograms we create the masks (Figure 5.6), by finding the
upper bounds and lower bounds for each color channel. As a final step we
create the total mask, that is returning the target object’s color boundaries
B