This paper presents a novel Logit-Logistic Fuzzy Color Constancy (LLFCC) algorithm and its variants for dynamic color object recognition. Contrary to existing color constancy algorithms, the proposed scheme focuses on manipulating a color locus depicting the colors of an object, and not stabilizing the whole image appearance per se. In this paper, a new set of adaptive contrast manipulation operators is introduced and utilized in conjunction with a fuzzy inference system. Moreover, a new perspective in extracting color descriptors of an object from the rg-chromaticity space is presented. Such color descriptors allow for the reduction of the effects of brightness/darkness and at the same time adhere to human perception of colors. The proposed scheme tremendously cuts processing time by simultaneously compensating for the effects of a multitude of factors that plague the scene of traversal, eliminating the need for image pre-processing steps. Experiment results attest to its robustness in scenes with multiple white light sources, spatially varying illumination intensities, varying object position, and presence of highlights.

No abstract

No abstract

This paper presents a control strategy for the robot soccer game goalie using hybrid fuzzy logic systems. The strategy adopts the divide and conquer concept by decomposing the goalie’s task of defending the goal into four (4) categories. Consequently, each category is characterized by different goalie-ball situations and will be handled by a separate rule-base. The first fuzzy system takes the x-coordinates of the robot and the ball then outputs the category number that determines the rule-base to be used in the second fuzzy system. The second fuzzy system handles the goalie’s movements. It takes the current y-coordinate of the goalie-robot and the ball then outputs the y-coordinate of the goalie’s next position (destination) which is located along its line-of-action (a line with predefined x-coordinate where the goalie moves back and forth just in front of the goal it is defending). Experiment shows that this strategy is feasible, efficient, and robust.

Probing over a digitized image of robots taken at top view to uniquely identify them is not quite an easy task.