Table 4.

Thresholding values to detect red and yellow colors.

Detected Color	Limits for the Grayscale Image of the Red Plane	Limits for the Grayscale Image of the Green Plane	Limits for the Grayscale Image of the Blue Plane
Red	$p_{\sup }^r=255$	$p_{\sup }^g=35$	$p_{\sup }^b=35$
	$p_{\inf }^r=200$	$p_{\inf }^g=0$	$p_{\inf }^b=0$
Yellow	$p_{\sup }^r=255$	$p_{\sup }^g=255$	$p_{\sup }^b=170$
	$p_{\inf }^r=200$	$p_{\inf }^g=200$	$p_{\inf }^b=0$