Marker recognition is vital in machine vision and applicable within many fields, such as vehicle automatic guidance, insect pest estimation, and UAV trajectory planning. The influence of illumination and complex backgrounds make such recognition applications very challenging. This paper describes a color Spatio-temporal decomposition algorithm as applied to video images to recognize markers. In the proposed method, the Vectorial Rudin-Osher-Fatemi model weakens the textural component of the image sequences to minimize background complexity for image segmentation. The impact of illumination is reduced by transforming the color space of the obtained image sequences into HSV and equalizing the histogram for the Value channel. Three different types of markers were tested under different light intensities and environments to verify the effectiveness of the algorithm. The proposed method improved the accuracy of edge detection in image segmentation and successfully minimized the interference of illumination. The algorithm also showed favorable good robustness under various vegetation density environments, with a recognition rate of about 95%.
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