This paper reports on a reactive docking behavior which uses a vision algorithm that grows linearly with the number of image pixels. The docking robot imprints (initializes) on a two-colored docking fiducial upon departing from the dock, then uses region statistics to adapt the color segmentation in changing lighting conditions. The docking behavior was implemented on a marsupial team of robots, where a daughter micro-rover had to reenter the mother robot from an approach zone with a 2-m radius and 140 angular width with a tolerance of 5 and 2 cm. Testing during outdoor conditions (noon, dusk) and challenging indoor scenarios (flashing lights) showed that using adaptation and imprinting was more robust than using imprinting alone.
