* Corresponding Author
Hide
Show all
Rancang Bangun Sistem Pendeteksi ARTag sebagai Landasan Pacu AR.Drone Menggunakan Platform ROS (Robot Operating System)
https://doi.org/10.22146/ijeis.23031 Bakhtiar Alldino Ardi Sumbodo(1*), Ariestyo Rahardian(2)
(1) Departemen Ilmu Komputer dan Elektronika, FMIPA UGM, Yogyakarta
(2) Perusahaan Listrik Negara (PLN)
(*) Corresponding Author
Abstract
The development of quadrotor type AR. Drone for research are being developed. One of which is an object detection system based image processing to perform the mission, such as tracking, landing, or detect and pass the object hitch. Accordingly, in this research designed an ARTag detection system based on digital image processing using OpenCV library implemented in ROS platform used to connect the drone to PC which will then be carried out missions to landing. The method used is Thresholding, Contour Detection, and Image Moments.
The result of this research is a system that able to detect ARTag objects along with his ID. The system is tested by computing time of the program in the static and dynamic state, detection performance testing in static and dynamic state, detection performance testing of the angle between the ARDrone and ARTag, detection performance testing of the light intensity, and testing landing mission. The conclusions are the optimal height of detection in the static and dynamic state is 150 cm, has excellent reliability to the light intensity, and the ARDrone can perform landing mission with a success rate of 70%.
Keywords
Full Text:
PDFReferences
[1] Ritya L., Andriana G., Indah G., 2005, Pengendalian AR Drone 2.0 dan Pengambilan Data Citra Berdasarkan Koordinat GPS, Universitas Telkom, Bandung.
[2] Nagataries, D., Hardiristanto, S., Purnomo, M.H., 2012, Deteksi Objek pada Citra Digital
Menggunakan Algoritma Genetika untuk Studi Kasus Sel Sabit.
[3] Fiala, M. (2005) ARTag, a fiducial marker system using digital techniques. 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 2005. [Online] 590-596. Available from: doi:10.1109/CVPR.2005.74.
[4] Ataka, A., 2014, ROS, Satu Langkah Menuju Pemrograman Robot yang Lebih Mudah,
http://ieeesb.ft.ugm.ac.id/ros-satu-langkah-menuju-pemrograman-robot-yang-lebih-mudah/,
diakses pada 6 November 2015.
[5] Weickert, J., 2001, Image Processing and Computer Vision. [Online]. Available from:
http://books.google.com/books?id=eSu5I9pU3rUC&pgis=1.
[6] Culjak, I., Abram, D., Pribanic, T., Dzapo, H. dan Cifrek, M., 2012, A brief introduction to
OpenCV, MIPRO, 2012 Proceedings of the 35th International Convention, Croatia, May 21-
25.
[7] Woodall W., 2015, ROS, Image transport, http://wiki.ros.og/image_transport, diakses pada
19 Desember 2015.
[8] Thomas D., 2013, ROS, Roscore, http://wiki.ros.og/roscore, diakses pada 19 Desember 2015.
[9] Salinaz, R.M., 2011, Aruco: a minimal library for Augmented Reality applications based on OpenCV, http://www.uco.es/investiga/grupos/ava/node/26, diakses pada 19 November 2015.
[10] Deepthi, R. dan Sankaraiah, S., 2011, Implementation of mobile platform using Qt and
OpenCV for image processing applications, Open Systems (ICOS), 2011 IEEE …. [Online]
284–289. Available from: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6079235
[11] M. S. Ardi, A. Harjoko, and R. Sumiharto, “Purwarupa Sistem Pendeteksi Garis Landasan Pacu pada Pesawat Terbang,” IJEIS (Indonesian J. Electron. Instrum. Syst., vol. 2, no. 2, pp. 199–208, 2012 [Online]. Available: https://jurnal.ugm.ac.id/ijeis/article/view/2439. [Accessed: 15-Mar-2017]
DOI: https://doi.org/10.22146/ijeis.23031
Article Metrics
Abstract views : 3013
| 
views : 2921
Refbacks
- There are currently no refbacks.
Copyright (c) 2018 IJEIS (Indonesian Journal of Electronics and Instrumentation Systems)
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
View My Stats1