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i can't really answer this, only give more "bad advice" ;)

i'd say, noo, don't throw away the color information, also thresholding will kill everything with shadows on it

and the more "low-level" you make it, the more parameters you will have to handle / tweak.

this is a segmentation problem, so try to use methods, that specialize on that. e.g: graph_segmentation:

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(graphsegmentation_demo room.jpg out.png 0.7 400 400)

there's also a hfs module:

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you could also use SLIC or SEEDS superpixels for a rough "pre-segmentation", and try to do something with their center colors

(cc @martian :)