Color Segmentation

Colors are a helpful simplification in RoboCup that ease the detection of objects. To use colors for classification it is necessary to specify a method to obtain the degree of membership of a particular instance of color to a color class. Since the classification must be performed very often, we decided to use the fastest classification possible with a software solution, a lookup table (LUT). Each color (we use 15 bit RGB values) can belong to different color classes. Each entry of the LUT consists of an 32-bit value, where each bit indicates class membership.
The LUT is defined by software tools that allow the user to comfortably select regions in images, whose colors then can be added to a specific color class.