I started working on a autonomous robot project in my spare time. Everything is finished except the image proccessing part. I want my robot to follow an object with particular properties. For the start, I decided to use color as the particular property. For example if object's color is yellow, then I want my robot to chase it. I am using OpenCV and tried some of the sample codes but the problem is that in real world lightning is not uniform and the sample codes which I tried did not do a good job because of the changing threshold.
So what can I do? What do you prefer to me? (Are there any better sample codes, algorithm suggestions etc?) I will appreciate if you explain your suggestions as if you were explaining it to someone with nearly none experience with image processing.