RESUMEN
New applications related to robotic manipulation or transportation tasks, with or without physical grasping, are continuously being developed. To perform these activities, the robot takes advantage of different kinds of perceptions. One of the key perceptions in robotics is vision. However, some problems related to image processing makes the application of visual information within robot control algorithms difficult. Camera-based systems have inherent errors that affect the quality and reliability of the information obtained. The need of correcting image distortion slows down image parameter computing, which decreases performance of control algorithms. In this paper, a new approach to correcting several sources of visual distortions on images in only one computing step is proposed. The goal of this system/algorithm is the computation of the tilt angle of an object transported by a robot, minimizing image inherent errors and increasing computing speed. After capturing the image, the computer system extracts the angle using a Fuzzy filter that corrects at the same time all possible distortions, obtaining the real angle in only one processing step. This filter has been developed by the means of Neuro-Fuzzy learning techniques, using datasets with information obtained from real experiments. In this way, the computing time has been decreased and the performance of the application has been improved. The resulting algorithm has been tried out experimentally in robot transportation tasks in the humanoid robot TEO (Task Environment Operator) from the University Carlos III of Madrid.
RESUMEN
This paper discusses current formulations based on fuzzy-logic control concepts as applied to the removal of impulsive noise from digital images. We also discuss the various principles related to fuzzy-ruled based logic control techniques, aiming at preserving edges and digital image details efficiently. Detailed descriptions of a number of formulations for recently developed fuzzy-rule logic controlled filters are provided, highlighting the merit of each filter. Fuzzy-rule based filtering algorithms may be designed assuming the tailoring of specific functional sub-modules: (a) logical controlled variable selection, (b) the consideration of different methods for the generation of fuzzy rules and membership functions, (c) the integration of the logical rules for detecting and filtering impulse noise from digital images. More specifically, we discuss impulse noise models and window-based filtering using fuzzy inference based on vector directional filters as associated with the filtering of RGB color images and then explain how fuzzy vector fields can be generated using standard operations on fuzzy sets taking into consideration fixed or random valued impulse noise and fuzzy vector partitioning. We also discuss how fuzzy cellular automata may be used for noise removal by adopting a Moore neighbourhood architecture. We also explain the potential merits of adopting a fuzzy rule based deep learning ensemble classifier which is composed of a convolutional neural network (CNN), a recurrent neural networks (RNN), a long short term memory neural network (LSTM) and a gated recurrent unit (GRU) approaches, all within a fuzzy min-max (FMM) ensemble. Fuzzy non-local mean filter approaches are also considered. A comparison of various performance metrics for conventional and fuzzy logic based filters as well as deep learning filters is provided. The algorhitms discussed have the following advantageous properties: high quality of edge preservation, high quality of spatial noise suppression capability especially for complex images, sound properties of noise removal (in cases when both mixed additive and impulse noise are present), and very fast computational implementation.