Pendeteksian Objek Bola dengan Metode Color Filtering HSV pada Robot Soccer Humanoid
Main Article Content
Keywords
Abstract
Humanoid soccer robot, is a robot that has the ability to play the ball like a common human football player. In this situation, a robot must have ability to detect object like a ball. Object detection method in this research using color filtering method in HSV color space in order to recognize the object of the ball based on the color. HSV color space (Hue, Saturation, Value) selected because RGB color space that contain red, green, and blue, it’s not take account a factor that black and white is one color. It’s known that Hue parameter act to determine the color, Saturation parameter act to determine the gray color degree, and Value parameter determine for intensity of the brightness of a color. The ball will be detected by the camera using a ball diameter of 6 cm with various colors and measurements of the detected object distance using 2 pieces of balls diameter of 6 cm and 3 cm. By using color filtering method on HSV color space to detect color of the ball, this method is able to tolerate the change of light intensity in detecting the color of the object. In this research the result about distance of detecting the ball with HSV color filtering method is between 20 cm – 200 cm for the ball diameter of 6 cm. And the distance of the ball object detected by the camera is depended on the ball diameter.
Keywords : HSV and color filtering, Humanoid soccer robot and Computer Vision
Abstrak— Robot Humanoid Soccer merupakan robot yang memiliki kemampuan dalam bermain bola seperti halnya pemain sepak bola. Pada permainan sepak bola, sebuah robot harus memiliki kemampuan dalam mendeteksi objek seperti bola. Metode pendeteksian objek pada penelitian ini menggunakan metode color filtering pada ruang warna HSV agar dapat mengenali objek bola berdasarkan warna. Ruang warna HSV (Hue, Saturation,Value) dipilih karena ruang warna RGB langsung mengarah pada ketiga parameter warna red, green, dan blue tanpa memperhitungkan faktor hitam putih suatu warna. Namun pada ruang warna HSV, parameter Hue berperan penting untuk menentukan warna, saturation untuk derajat keabuan suatu warna, serta value untuk intensitas kecerahan suatu warna. Bola yang akan di deteksi oleh kamera menggunakan bola dengan diameter 6 cm dengan berbagai macam warna dan pengukuran jarak objek yang terdeteksi menggunakan 2 buah bola dengan diameter 6 cm dan 3 cm. Dengan menggunakan metode color filtering pada ruang warna HSV untuk mendeteksi warna bola, metode ini mampu menoleransi perubahan intensitas cahaya dalam mendeteksi warna benda. Jarak objek bola yang diolah dengan color filtering HSV berkisar antara 20 cm – 200 cm untuk diameter bola 6 cm. Dan jarak objek bola yang terdeteksi oleh kamera terpengaruh pada diameter bola.
Kata Kunci— Robot Humanoid Soccer, Computer Vision, HSV dan Color Filtering.
References
[2] Witjakso, Ario, 2008, Perancangan Sistem Robot Mobile Pendeteksi Bola Tenis Meja, Jurnal Teknik Komputer, vol 18 no. 12, Jakarta
[3] Prayitno, Yustinus P., Rancang Bangun Aplikasi Pendeteksi Bentuk dan Warna Benda pada Robot Mobile berbasis webcam, Jurusan Sistem Komputer – STIKOM, Surabaya
[4] Awcock, G.W. 1996. Applied Image Processing.Singapore. McGraw-Hill Book.
[5] Munir, Rinaldi. 2004. Pengolahan Citra Digital dengan Pendekatan Algoritmik . Bandung : Informatika Bandung.
[6] Murinto, 2007, Analisis Perbandingan Metode Intensity Filtering Dengan Metode Frequency Filtering Sebagai Reduksi Noise Pada Citra Digital, SNATI, Yogjakarta.
[7] Dhiemas, R.Y.S., 2010, Pengenalan Dan Pencarian Posisi Robot: Studi Kasus Pencarian Sumber Kebocoran Gas, Jurnal Ilmu Komputer dan Informasi, vol 3 nomor 2, Depok.
[8] Deswal, Monika, 2014, A Fast HSV Image Color and Texture Detection and Image Conversion Algorithm, International Journal of Science and Research (IJSR). Vol 3 issue 6.
[9] Syafi’i, Slamet Imam, 2011, Open Computer Vision (OpenCV). (http://slametux.blogdetik.com/2011/10
Article Sidebar
Article Details
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
The authors declare that:
1. This paper has not been published in the same form elsewhere.
2. It will not be submitted anywhere else for publication prior to acceptance/rejection by this Journal.
3. A copyright permission is obtained for materials published elsewhere and which require this permission for reproduction.