Require: For each known illumination , |
color map , distributions , and distribution |
of JS-distances . |
Require: Algorithm to plan motion and learn colors au- |
tonomously (Algorithm 2). |
Require: Positions, shapes and color labels of the objects of |
interest in the robot's environment. Initial robot pose. |
() Initialize: , , (no prior |
illumination knowledge). |
() Plan motion and learn . |
() Generate , space distributions, and |
distribution of JS-distances, , using images cap- |
tured at random during color learning. |
() Save image statistics, . |
() while true do |
() Get new image. Segment image and detect objects. |
() if minorChange () then |
() minorUpdate (). Get from current color |
distributions. |
() Revise current illumination representation to get |
and , to be used for subsequent opera- |
tions. |
() end if |
() if then |
() distribution of current image. |
() for to do |
() |
() end for |
() if Exists () then |
() |
() end if |
() if Exists () and withinRange (, ) then |
() Continue with . |
() else if withinRange (, ) then |
() Continue with . |
() else if withinRange(, ), then |
() Use , . |
() else |
() New illumination, , . |
() Learn autonomously. |
() Learn for new illumination. |
() Use for subsequent operations. |
() end if |
() . |
() end if |
() end while |