| Require: For each known illumination , |
| color map , distributions , and distribution |
| of JS-distances . |
| Require: Algorithm to plan motion and learn colors au- |
| tonomously (Algorithm 2). |
| Require: Positions, shapes and color labels of the objects of |
| interest in the robot's environment. Initial robot pose. |
| () Initialize: , , (no prior |
| illumination knowledge). |
| () Plan motion and learn . |
| () Generate , space distributions, and |
| distribution of JS-distances, , using images cap- |
| tured at random during color learning. |
| () Save image statistics, . |
| () while true do |
| () Get new image. Segment image and detect objects. |
| () if minorChange () then |
| () minorUpdate (). Get from current color |
| distributions. |
| () Revise current illumination representation to get |
| and , to be used for subsequent opera- |
| tions. |
| () end if |
| () if then |
| () distribution of current image. |
| () for to do |
| () |
| () end for |
| () if Exists () then |
| () |
| () end if |
| () if Exists () and withinRange (, ) then |
| () Continue with . |
| () else if withinRange (, ) then |
| () Continue with . |
| () else if withinRange(, ), then |
| () Use , . |
| () else |
| () New illumination, , . |
| () Learn autonomously. |
| () Learn for new illumination. |
| () Use for subsequent operations. |
| () end if |
| () . |
| () end if |
| () end while |
