Pcb Colour and AOI equipment
I suspect not,  since the optical aspect of AOI (automated optical inspection) uses infrared light to illuminate the solder joints iirc. 

If a system uses regular cameras to deduce correct orientation of parts, I could see contrast between the solder mask and the components being a consideration. However, I think such a system requires some programming and positional registration to be effective anyway,  so that's probably not a significant concern. 

Truth is,  you should talk to your assembly house about it,  as it probably depends on the specifics of their equipment and experience.