A novel color detection method based on HSL color space for robotic soccer competition

In a robotic soccer competition, the locations of the ball and the robot are recognized through the vision system in a strong dynamic environment; therefore, the robot and the computer need to identify the object in real-time and accurately through the vision system. Due to the influence of the game ball under different brightnesses, the color clusters of glossy materials will produce a nonlinear behavior and will cause difficulty of recognition. Thus, we propose a novel color detection method based on hue, saturation, and lightness (HSL) color space in this paper. Firstly, by utilizing the hue histogram, the hue and saturation (HS) plane and the hue and lightness (HL) plane can be obtained respectively. In addition, based on the obtained information from two planes, the databases can be built for decreasing the running-time and increasing the recognition success rate of identifying object. Moreover, a novel algorithm is presented for the game ball in the robotic soccer competition. Finally, some examples under different brightnesses are illustrated to demonstrate the preciseness and the accuracy of the proposed method are better than the traditional method.