Colour categorisation has been studied extensively on many different areas such as linguistic, psychology, physics and cognition. In colour science, colour categorisation has been used to solve the practical problems in the field of colour image reproduction and image analysis. A method to automatically categorise colours into the 11 universal colour names found by Berlin and Kay was developed here. Colour category experiment was carried out using 729 colour patches printed on four types of paper substrates. Models for categorising universal colours were developed in CIELAB and CIECAM02 colour spaces. The results show that the CIECAM02 based model outperformed the CIELAB based model and gave the same degree of accuracy as a group of observers.