Sistem Deteksi Bola Berdasarkan Warna Bola dan Background Warna Lapangan pada Robot Barelang Fc
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Date
2017-05-16
Authors
Mandala, Hanjaya
Journal Title
Journal ISSN
Volume Title
Publisher
Politeknik Negeri Batam
Abstract
In a soccer game, a humanoid soccer robot should be able to lead and kick the ball
toward the goal. Soccer robot must be equipped with good ball detection system to play
soccer properly by simply using the camera as the main sensor. The problem that arises is
the existence of other objects on and off the field. Another problem is the variety intensity
of light can affect the recognition of the ball. In this research, will be develop a ball detection
system by using a combination of HSV color filtering of ball and field background color.
Cvblob library will be used to detect size of ball and to reduce the influence of light intensity,
the auto feature of the camera will be disabled. The results of this research generate an
accurate and real time detection system with percentage of HSV color filtering technique to
detect an orange tennis ball is 84%. Percentage of recognition ball size by using cvblob
library and position based on field background color is 92% in (6 x 4m2
) field area with
range of light intensity: 10,11 - 831 lux. CPU usage of the whole detection system process
has increased the percentage of 10.2 - 32.7% on each core and camera capture speed is 31.15
fps.
Description
Keywords
Teknik Elektro, Mekatronika, Engineering and Allied Operations (Teknik dan Ilmu yang Berkaitan), Economics (Ilmu Ekonomi), Olahraga, Permainan, dan Pertunjukan