This paper deals with a robotic vision based on human color vision. This paper describes a system that simulates the human retina in the sense that it has cones for color reception and rods for birghtness sensation distributed at a non uniform spatial distribution over the retinal suface. In addition, our system removes the effect of brightness in order perception i.e. achieve color constancy which is the case with the human visual system.
Kazuo Yamaba, Yoichi Miyake, Kazuhiko Kawamura, "A Color Vision System Using Density Profile of Human Cones/Rods" in Proc. IS&T 2nd Color and Imaging Conf., 1994, pp 175 - 180, https://doi.org/10.2352/CIC.1994.2.1.art00048