Mobile robots

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The presented color classification technique shows a good approximation for color subspaces without the need of transforming the color signal of pixels. The produced implicit surface binds tightly the cloud of color samples, reducing possible overlapping problems with other color classes. The use of a look-up table was an efficient method that allows the classification of a single pixel with a single lookup on a 3D array. In addition, evaluation of this algorithm under varying lighting conditions showed a better color classification than that produced by other color classification methods. The main reason behind this benefit is the tight approximation of the color class to the cloud of.