1. A method comprising: receiving image data comprising pixels, each pixel associated with one or more image channels of image data; decomposing, by a processor, each image channel of the image data into an albedo component and a shading component based on the one or more image channels; generating superpixels from the created image data, each superpixel comprising a plurality of contiguous image pixels having similar values in corresponding image channels, the albedo component invariant of lighting conditions and proportional to a proportion of light reflected by a surface represented in the image data; and merging the generated superpixels into segmented regions based at least in part on the albedo component and the shading component of each image channel, each segmented region comprising image pixels of contiguous merged superpixels.