Green Chroma Keying for Robot Performances in Public Places

공공장소에서 로봇 공연용 그린 크로마키 합성

  • Hwang, Heesoo (Department of Electrical and Electronic Engineering, Halla University)
  • 황희수 (한라대학교 전기전자과)
  • Received : 2017.05.19
  • Accepted : 2017.07.20
  • Published : 2017.07.28


Robot performances in public places are conducted for the purpose of promoting robot technology and inducing interest in events, exhibitions, and streets instead of dedicated stages. This paper extracts robot images in real time from a robot operation in front of a green chroma key cloth, and synthesizes them on various stage images. A simple and robust method for extracting a foreground robot from a chroma key background without a user's preset is proposed. After increasing the color difference between the background and the foreground, this method automatically removes the background based on the histogram of the difference information, thereby eliminating the need for a user's preset. The simulation shows 98.8% of foreground extraction rate and experimental results demonstrate that the robots can effectively be extracted from the background.


Culture Technology;Robot Performance;Humanoid;Chroma key;Masking


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