According to the conception of color run-length, a method of feature representation based on run-length matrix for color image was proposed,then two similarity criterions were given.

In this paper, the color equation of subtractive colors is given, the tristimulus values of subtractive colors are discussed.

This paper describes a color training robot vision system capable of real-time recognizing objects quickly and presents a novel but easy color training and object segmentation,recognition algorithm.

To solve the problem, employing the autonomous serve robot as research platform,this paper presents a color training method of real-time image processing for the robot tracking system in partly structured environment.