Abstract：In RoboCup 4-legged league,variation of lighting conditions greatly affects the result of image processing.In order to solve the problem,this paper analyzes how the color of image taken by the vision sensor varies along with lighting intensity,and presents a method of color-space transformation based on electric field model,through which color images remain consistent in spite of lighting intensity variation.Experimental results show that image processing based on the transformation has greater adaptability to lighting conditions.
 Rifer T,Laue T,Weber W,et al.Germanteam RoboCup 2005[EB/OL].http://www.germanteam.org/GT2005.pdf,2005.
 Quinlan M J,Nicklin S P,Hong K,et al.The 2005 NUbots Team Report[EB/OL].http://www.robots.newcastle.edu.au/publications/NUbotFinalReport2005.pdf,2005.
 Gevers T,Smeulders A W M.Color based object recognition[A].Lecture Notes in Computer Science (vol.1310)[M].Berlin,Germany:Springer,1997.319-327.
 Shafer S A.Using color to separate reflection components[J].Color Research and Application,1985,10(4):210-218.
 Klinker G J,Shafer S A,Kanade T.A physical approach to color image understanding[J].International Journal of Computer Vision,1990,4(1):7-38.
 Klinker G J,Shafer S A,Kanade T.The measurement of highlights in color images[J].International Journal of Computer Vision,1988,2(1):7-32.