US Patent 7136524 Robust perceptual color identification

Systems and methods of robust perceptual color identification are disclosed. The methods include a multilevel analysis for determining the robust perceptual color of an object based on observed colors. This multilevel analysis can include a pixel level, a frame level, and/or a sequence level. The determination may make use of color drift matrices and trained functions such as statistical probability functions. The color drift tables and function training are based on training data generated by observing objects of known robust perceptual color in a variety of circumstances. Embodiments of the invention are applicable to the identification and tracking of objects, for example, in a surveillance video system.