Color-Image Classification Using MRFs for an Outdoor Mobile Robot

In this paper, we suggest to use color-image classification (in several phases) using Markov Random Fields (MRFs) in order to understand natural images from outdoor environment's scenes for a mobile robot. We skip preprocessing phase having same results and better performance. In segmentation phase, we implement a color segmentation method considering I3 color space measure average in little image's cells obtained from a single split step. In classification phase, a MRF was used to identify regions as one of three selected classes; here, we consider at the same time the intrinsic color features of the image and the neighborhood system between image's cells. Finally, we use region growing and contextual information to correct misclassification errors. We have implemented and tested those phases with several images taken at our campus' gardens. We include some results in off-line processing mode and in on-line execution mode on an outdoor mobile robot. The vision system has been used for reactive exploration in an outdoor environment