(Abstract—Thispaperpresentsareal-timecolourimageclassificationalgorithmformobilerobotnavigationbasedontheadvancedtechnologyofFieldProgrammableGateArrays(FPGA).Inordertocalibratetheobjectcolourindifferentlightingconditions,akindofstatisticellipsoidalmodelisadopted.Webuilda3-DColourLook-upTable(CLUT)inwhichonly18bitsareusedtorepresentakindofcolourinsteadofconventional24bits.Thismethodresolvesthe...
