DESIGN AND EXPERIMENT OF A
COMPUTER VISION SYSTEM OF AN AUTONOMOUS ROBOT
By Michael Kurnia
2-2014-1213
MASTER’S DEGREE in
Mechanical Engineering-Mechatronics Faculty of Engineering and Information Technology
SWISS GERMAN UNIVERSITY EduTown BSD City
Tangerang 15339 Indonesia
March 2016
Revised after the Thesis Defense on February 18, 2016
Michael Kurnia STATEMENT BY THE AUTHOR
I hereby declare that this submission is my own work and to the best of my knowledge, it contains no material previously published or written by another person, nor material which to a substantial extent has been accepted for the award of any other degree or diploma at any educational institution, except where due acknowledgement is made in the thesis.
Michael Kurnia
_____________________________________________
Student Date
Approved by:
Dr. Rusman Rusyadi
_____________________________________________
Thesis Advisor Date
Dr. Ir. Gembong Baskoro, M.Sc.
_____________________________________________
Thesis Co-Advisor Date
Dr. Ir. Gembong Baskoro, M.Sc.
_____________________________________________
Dean Date
Michael Kurnia ABSTRACT
DESIGN AND EXPERIMENT OF A
COMPUTER VISION SYSTEM OF AN AUTONOMOUS ROBOT
By Michael Kurnia
SWISS GERMAN UNIVERISTY
The purpose of the thesis is to design and experiment a computer vision system for an autonomous robot. Research and discuss the hardware and software required for the system. Write the code for the servo motor control and image processing for object detection. The thesis will adapt to the Hardware and Software design method of research to implement the system. The thesis has gathered data of the designed system and a prototype has been built to support the data gathered within this thesis. In conclusion, the thesis has shown the development of a simple computer vision system, implementing an algorithm that is suitable for the system and is able to extract coordinates from the image processed.
Keywords: Computer Vision, OpenCV, Raspberry Pi 2, Python, Raspberry Pi Camera, Design, Experiment, Noise Reduction.
Michael Kurnia
© Copyright 2016 by Michael Kurnia All rights reserved
Michael Kurnia DEDICATION
I dedicate this works for the University, Swiss German University Mechatronics faculty and my beloved country, Indonesia.
Michael Kurnia ACKNOWLEDGEMENTS
I would like to express my gratitude to my Theis Advisor Dr. Rusman Rusyadi for introducing Computer Vision, and provide initial inspiration and motivation regarding the topic. Providing technical input and advice through the process of the thesis.
Finally, I would also like to express my gratitude to my Thesis Co-Advisor and Dean of the Faculty Dr. Ir. Gembong Baskoro, M.Sc. for providing mental support, always pushing me to achieve something more. Giving advice regarding the different approaches available for completing the thesis.
I have found my coursework throughout the study program to be stimulating and thoughtful, providing me with the tools with which to explore both past and present ideas and issues.
Michael Kurnia TABLE OF CONTENTS
Page
STATEMENT BY THE AUTHOR ... 2
ABSTRACT ... 3
DEDICATION ... 5
ACKNOWLEDGEMENTS ... 6
TABLE OF CONTENTS ... 7
LIST OF FIGURES ... 9
LIST OF TABLES ... 11
CHAPTER 1 – INTRODUCTION ... 12
1.1 Background ... 12
1.2 Research Problem ... 12
1.3 Research Objective ... 13
1.4 Significance of Study ... 13
1.5 Research Questions ... 13
1.6 Thesis Limitations ... 13
1.7 Thesis Structure ... 14
CHAPTER 2 – LITERATURE REVIEW ... 14
2.1 Research on related projects ... 14
2.1.1 2D Geometric Shape and Color Recognition using Digital Image Processing ... 14
2.1.2 Detection of Edges Using Fuzzy Inference System ... 18
2.1.3 Robotic Grasping of Novel Objects using Vision... 19
2.2 Research on Components ... 20
2.2.1 Minicomputer platform ... 20
2.2.2 Raspberry Pi Camera ... 24
2.2.3 Servo Motor (Tower Pro MG90S) ... 25
2.2.3 Software ... 25
CHAPTER 3 – METHODOLOGY ... 26
Michael Kurnia
3.1 General Overview of the System ... 26
3.2 Image processing ... 27
3.2.1 Resize ... 31
3.2.2 Blurring ... 31
3.2.3 Convert to HSV... 33
3.2.4 Mask ... 34
3.2.5 Dilating and Eroding ... 35
3.2.6 Contours ... 35
3.2.7 Improvements ... 36
3.3 Servo Motor ... 36
3.4 System Implementation ... 37
3.5 Test Plan... 39
3.6 Test Performed ... 39
3.6.1 Capturing picture through the Pi Camera ... 39
3.6.2 Servo motor test ... 40
3.6.3 Real Time Data Capture ... 40
3.6.4 Image Processing Test ... 41
CHAPTER 4 – RESULTS AND DISCUSSION ... 43
4.1 Capturing Image through the Pi Camera ... 43
4.2 Servo Motor ... 43
4.3 Real Time Data Capture... 46
4.4 Image Processing Test ... 46
CHAPTER 5 - CONCLUSION ... 48
REFERENCES ... 49
APPENDICES ... 51
Appendix 1 ... 51
Appendix 2 ... 54
Appendix 3 ... 59
Appendix 4 ... 60
Appendix 5 ... 61
CURRICULUM VITAE ... 63