Fuzzy color tracking for robotic tasks

We present in this paper how to track an object by using a color cue. Color is represented as fuzzy membership functions in the CIELab color space. Integration of the fuzzy representation and CIELab color space make our tracking system robust to illumination variability. Target initialization is don...

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Bibliographic Details
Published inSMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483) Vol. 3; pp. 2769 - 2773 vol.3
Main Authors Montecillo-Puente, F.J., Ayala-Ramirez, V., Perez-Garcia, A., Sanchez-Yanez, R.E.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2003
Subjects
Fuzzy logic
Fuzzy systems
Lighting
Logic testing
Orbital robotics
Pixel
Robot kinematics
Robustness
System testing
Target tracking
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Summary:We present in this paper how to track an object by using a color cue. Color is represented as fuzzy membership functions in the CIELab color space. Integration of the fuzzy representation and CIELab color space make our tracking system robust to illumination variability. Target initialization is done in an interactive way, user selects a color target and membership functions for each coordinates are then defined. Target search is done by examining pixel intensities over a test region in the current image using a fuzzy logic rule. We have tested our approach experimentally and our system can track a colored object at rates of about 15Hz on a Pentium computer. A visual servoing system that uses our target tracking system for feature extraction has also been developed.
ISBN:9780780379527
0780379527
ISSN:1062-922X
2577-1655
DOI:10.1109/ICSMC.2003.1244304