1. A method for detecting obstacles in an area, the method comprising: receiving an image of the area, the image representing the area in a first color space; converting the received image to at least one second color space to produce a plurality of converted images, each converted image corresponding to one of a plurality of color sub-spaces in the at least one second color space; calculating upper and lower thresholds for at least two of the plurality of color sub-spaces; applying the calculated upper and lower thresholds to the converted images corresponding to the at least two color sub-spaces to segment the corresponding converted images; fusing the segmented converted images corresponding to the at least two color sub-spaces to segment the received image; and updating the segmentation of the received image based on edge density data in the received image.