Pendeteksian Bola untuk Robot Sepak Bola Humanoid Berbasis Pengenalan Pola

Main Authors: Iswahyudi, Fauzi Nur, Ardi Sumbodo, Bakhtiar Alldino
Format: Article info application/pdf Journal
Bahasa: eng
Terbitan: Indonesian Computer, Electronics, and Instrumentation Support Society (IndoCEISS) , 2017
Subjects:
HOG
SVM
Online Access: https://journal.ugm.ac.id/ijeis/article/view/18108
https://journal.ugm.ac.id/ijeis/article/view/18108/16018
ctrlnum article-18108
fullrecord <?xml version="1.0"?> <dc schemaLocation="http://www.openarchives.org/OAI/2.0/oai_dc/ http://www.openarchives.org/OAI/2.0/oai_dc.xsd"><title lang="id-ID">Pendeteksian Bola untuk Robot Sepak Bola Humanoid Berbasis Pengenalan Pola</title><creator>Iswahyudi, Fauzi Nur</creator><creator>Ardi Sumbodo, Bakhtiar Alldino</creator><subject lang="id-ID"/><subject lang="id-ID">RoboCup, HOG, SVM, Sliding window</subject><description lang="id-ID">&#xA0;Humanoid soccer robot is one of popular developed robot. RoboCup is a competitive competiton of humanoid robot soccer. The rule of RoboCup changed by the time, the previous orange ball changed by white ball which is same color as the field line and the goal. Accordingly, in this research designed a white ball detection system for humanoid soccer robot based on pattern recognition. Histogram of Oriented Gradient (HOG) and Support Vector Machine (SVM) method are used in this research for feature extraction and classification. The result of this research is a system that be able to detect ball in humanoid soccer robot environment. The system tested by sliding window parameter testing, the distance of ball to robot testing, different light intensity testing, and other object testing. The conclusions of this research are: optimal detection is obtained by using 8x8 win_stride parameter size and 1,2 scale0 parameter value, maximum distance of detection with 32&#xD7;32 window detector is 180 cm and with 64&#xD7;64 window detector is 140 cm, the response of system in different light intensity is good enough, and the success rate of system against other obstacle object with 32&#xD7;32 window detector is 68% and with 64&#xD7;64 window detector is 99%.</description><publisher lang="en-US">Indonesian Computer, Electronics, and Instrumentation Support Society (IndoCEISS)</publisher><contributor lang="id-ID"/><date>2017-04-30</date><type>Journal:Article</type><type>Other:info:eu-repo/semantics/publishedVersion</type><type>Other:</type><type>File:application/pdf</type><identifier>https://journal.ugm.ac.id/ijeis/article/view/18108</identifier><identifier>10.22146/ijeis.18108</identifier><source lang="en-US">IJEIS (Indonesian Journal of Electronics and Instrumentation Systems); Vol 7, No 1 (2017): April; 105-116</source><source>2460-7681</source><source>2088-3714</source><language>eng</language><relation>https://journal.ugm.ac.id/ijeis/article/view/18108/16018</relation><rights lang="en-US">Copyright (c) 2017 IJEIS (Indonesian Journal of Electronics and Instrumentation Systems)</rights><rights lang="en-US">http://creativecommons.org/licenses/by-sa/4.0</rights><recordID>article-18108</recordID></dc>
language eng
format Journal:Article
Journal
Other:info:eu-repo/semantics/publishedVersion
Other
Other:
File:application/pdf
File
Journal:Journal
author Iswahyudi, Fauzi Nur
Ardi Sumbodo, Bakhtiar Alldino
title Pendeteksian Bola untuk Robot Sepak Bola Humanoid Berbasis Pengenalan Pola
publisher Indonesian Computer, Electronics, and Instrumentation Support Society (IndoCEISS)
publishDate 2017
topic RoboCup
HOG
SVM
Sliding window
url https://journal.ugm.ac.id/ijeis/article/view/18108
https://journal.ugm.ac.id/ijeis/article/view/18108/16018
contents Humanoid soccer robot is one of popular developed robot. RoboCup is a competitive competiton of humanoid robot soccer. The rule of RoboCup changed by the time, the previous orange ball changed by white ball which is same color as the field line and the goal. Accordingly, in this research designed a white ball detection system for humanoid soccer robot based on pattern recognition. Histogram of Oriented Gradient (HOG) and Support Vector Machine (SVM) method are used in this research for feature extraction and classification. The result of this research is a system that be able to detect ball in humanoid soccer robot environment. The system tested by sliding window parameter testing, the distance of ball to robot testing, different light intensity testing, and other object testing. The conclusions of this research are: optimal detection is obtained by using 8x8 win_stride parameter size and 1,2 scale0 parameter value, maximum distance of detection with 32×32 window detector is 180 cm and with 64×64 window detector is 140 cm, the response of system in different light intensity is good enough, and the success rate of system against other obstacle object with 32×32 window detector is 68% and with 64×64 window detector is 99%.
id IOS1089.article-18108
institution Universitas Gadjah Mada
institution_id 19
institution_type library:university
library
library Perpustakaan Pusat Universitas Gadjah Mada
library_id 488
collection IJEIS (Indonesian Journal of Electronics and Instrumentation Systems)
repository_id 1089
subject_area Rekayasa
city SLEMAN
province DAERAH ISTIMEWA YOGYAKARTA
repoId IOS1089
first_indexed 2017-05-31T06:25:54Z
last_indexed 2017-05-31T06:25:54Z
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