| dc.contributor.advisor | WIYAGI, RAMA OKTA | |
| dc.contributor.advisor | PURWANTO, KUNNU | |
| dc.contributor.author | GUMELAR, MUHAMMAD FAJAR | |
| dc.date.accessioned | 2019-09-25T06:34:22Z | |
| dc.date.available | 2019-09-25T06:34:22Z | |
| dc.date.issued | 2019-03-15 | |
| dc.identifier.uri | http://repository.umy.ac.id/handle/123456789/29065 | |
| dc.description | Pada Kontes Robot Sepak Bola Beroda Indonesia terdapat banyak peraturan yang mengatur tentang warna objek, seperti warna bola, gawang, tanda warna lawan dan lapangan pertandingan. Berdasarkan pada faktor tersebut, maka pada penelitian ini dibuat sebuah sistem deteksi objek berbasis warna untuk mendeteksi objek-objek tersebut. Tahapan proses deteksi dimulai dengan mengkonversi citra RGB menjadi HSV, kemudian opening, closing, selanjutnya filter 2D Convolution, lalu thresholding, dan diakhiri dengan mendapatkan kontur warna dari objek terdeteksi, sehingga dengan demikian dapat dilakukan analisis moment untuk mendapatkan koordinat center of gravity dari objek tersebut. Hasil pengujian menunjukkan bahwa sistem deteksi objek berbasis warna Mr Dev telah mampu mendapatkan data-data berupa koordinat dan sudut bola, koordinat dan sudut titik tembak pada gawang lawan, koordinat dan sudut tanda warna lawan, serta data tepi lapangan. Selain itu, fitur anti-noise warna bola juga telah dapat berjalan dengan baik. Sistem tersebut mampu mendapatkan rata-rata nilai FPS sebesar 25,324 pada kamera depan, dan 20,174 pada kamera omnivision. | en_US |
| dc.description.abstract | In the Indonesian Wheeled Soccer Robot Contest there are many regulations about the color of objects, such as the color of the ball, the goal, the mark of the opponent’s color, and the match field. Based on these factors, this research aims to build a color-based object detection system to detect those object. The detection process starts with transforming RGB into HSV, then opening, closing, then filters 2D Convolution, after that thresholding, and finally getting the color’s contour of the object, so moment analysis can be done and coordinates of the object’s center of gravity can be gained. The test results showed that Mr. Dev’s color-based object detection system is able to obtain data of ball’s coordinates and angles, shooting target’s coordinates and angles, enemy color marker’s coordinates and angles, and field’s edges data. Besides that, the ball color’s anti-noise system has also run well. The system is able to get an average FPS value of 25,324 on the front camera, and 20,174 on the omnivision camera. | en_US |
| dc.publisher | FAKULTAS TEKNIK UNIVERSITAS MUHAMMADIYAH YOGYAKARTA | en_US |
| dc.subject | color-based object detection, HSV, opening, closing, filters 2D Convolution, thresholding, contour, coordinates, angles, ball color’s anti-noise | en_US |
| dc.title | IMPLEMENTASI DETEKSI OBJEK BERBASIS WARNA PADA ROBOT SEPAK BOLA BERODA | en_US |
| dc.type | Thesis
SKR
147 | en_US |
