Chrominance component-based image segmentation method and system, image segmentation device, and readable storage medium

A method of image segmentation of an area including a lawn based on a chrominance component, wherein the method comprises the following steps:

• obtaining a chrominance component of an image of at least a portion of the area;
• generating a chrominance component histogram according to the chrominance component;
• determining peaks and troughs in the chrominance component histogram according to a preset chrominance interval and preset peak and trough setting conditions;
• obtaining a segmentation threshold according to the peaks and the troughs as follows:
• a. counting a quantity of the peaks;
• and
• b. determining whether the quantity of the peaks is not less than 2;
• and
• i. if the quantity of the peaks is not less than 2, obtaining the segmentation threshold through a peak and trough segmentation method;
• or
• ii. if the quantity of the peaks is less than 2, obtaining the segmentation threshold through an OTSU threshold method;
• and
• segmenting the image into a plurality of regions with different chrominances according to the segmentation threshold, a first of the regions being a grass area comprising part of the lawn, and a second of the regions being a non-grass area not comprising part of the lawn.