TY - JOUR
T1 - Implementing hue-saturation-value filter and circle hough transform for object tracking on ball-wheeled robot
AU - Sugiarto, Kharis
AU - Kusuma, Vicky Andria
AU - Firdaus, Aji Akbar
AU - Suprapto, Sena Sukmananda
AU - Uman Putra, Dimas Fajar
N1 - Publisher Copyright:
© 2024, Institute of Advanced Engineering and Science. All rights reserved.
PY - 2024/3
Y1 - 2024/3
N2 - The ball-wheeled robot relies on a camera for receiving information on the object to be followed. Object tracing is one of the methods that can be used for detecting object movement. In recognizing objects around it, the robot requires an image analysis process that involves visual perception. Image processing is the process of processing and analyzing images that involves visual perception, and is characterized by input data and output information in the form of images. This is how the robot can see objects around it and then be assisted by computer vision to make a decision. The object tracking method with hue-saturation-value (HSV) colour filtering and shape recognition with circle hough transform (CHT) is applied to the ball-wheeled robot. The front vision of the robot uses HSV colour filtering with various test values to determine the thresholding value, and it was found that the ball could be identified up to a distance of 1,000 cm. To further improve the performance of recognizing the ball object, CHT was applied. It was found that the ball could be identified up to a distance of 700 cm. Furthermore, the ball can be identified in obstructed conditions up to 75%.
AB - The ball-wheeled robot relies on a camera for receiving information on the object to be followed. Object tracing is one of the methods that can be used for detecting object movement. In recognizing objects around it, the robot requires an image analysis process that involves visual perception. Image processing is the process of processing and analyzing images that involves visual perception, and is characterized by input data and output information in the form of images. This is how the robot can see objects around it and then be assisted by computer vision to make a decision. The object tracking method with hue-saturation-value (HSV) colour filtering and shape recognition with circle hough transform (CHT) is applied to the ball-wheeled robot. The front vision of the robot uses HSV colour filtering with various test values to determine the thresholding value, and it was found that the ball could be identified up to a distance of 1,000 cm. To further improve the performance of recognizing the ball object, CHT was applied. It was found that the ball could be identified up to a distance of 700 cm. Furthermore, the ball can be identified in obstructed conditions up to 75%.
KW - Circle hough transform
KW - Filter
KW - Hue-saturation-value
KW - Object tracking
KW - Robot
UR - http://www.scopus.com/inward/record.url?scp=85187877193&partnerID=8YFLogxK
U2 - 10.11591/ijres.v13.i1.pp52-58
DO - 10.11591/ijres.v13.i1.pp52-58
M3 - Article
AN - SCOPUS:85187877193
SN - 2089-4864
VL - 13
SP - 52
EP - 58
JO - International Journal of Reconfigurable and Embedded Systems
JF - International Journal of Reconfigurable and Embedded Systems
IS - 1
ER -