SYSTEM USING IMAGE PROCESSING METHOD TO DETECT AND TRACK OBJECT
By
BERNARD DHARMAWAN HARYANTO
A Thesis submitted to the Faculty of ENGINEERING
Department of
MECHATRONICS ENGINEERING
In Partial Fulfillment of the Requirements for BACHELOR'S DEGREE
IN
MECHATRONICS
SWISS GERMAN UNIVERSITY EduTown BSDCity
Tangerang 15339 INDONESIA Telp. +62 21 3045 0045
Fax. +62 21 3045 0001 E-mail: [email protected]
www.sgu.ac.id
August 2011
Revision after the Thesis Defense on 3 August 2011
STATEMENT BY THE AUTHOR
I hereby declare that this submission is my own work and to the best of my knowledge, 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.
_______________________________________ ________________
Bernard Dharmawan Haryanto Date
Approved by:
________________________________________ __________________
Dr. Ir. Tutuko Prajogo, MSMfgE. Date
________________________________________ __________________
Dr. Rusman Rusyadi, B.Sc., M.Sc. Date
________________________________________ _________________
Chairman of the Examination Steering Committee Date
ABSTRACT
DESIGNING AND CONSTRUCTING AN EFFICIENT TARGETING SYSTEM USING IMAGE PROCESSING METHOD TO DETECT AND TRACK OBJECT
By
Bernard Dharmawan Haryanto SWISS GERMAN UNIVERSITY
Bumi Serpong Damai
Dr. Ir. Tutuko Prajogo, MSMfgE., Thesis Advisor Dr. Rusman Rusyadi, B.Sc., M.Sc., Thesis Co-Advisor
This thesis is purposed to construct a prototype of an effective targeting system based on image processing method to detect and track a desired moving object which captured by camera device based on shape and color limitation. The problem to be solved is how to create a high accuracy system to track an object as ideal as possible since there is always error exist in a system to be considered.
This targeting system needs a mechanical design that could support pan and tilt movement. One image sensor is attached to identify object location and it is connected to mechanical system through image processing program. Some conversion formulas between digital image dimension into actual distance in order to increase accuracy level is needed. Object is then pointed by pointing device.
By using OpenCV library which has special function in maintaining computer vision, Visual C++ software able to build image processing algorithm tested on a circular red object with diameter 7 cm at distance of 1.5 m. Integrated with PID algorithm, the object tracking test using 5 location samples indicated the maximum error of 1.5 cm from object center point.
Keywords: Targeting system, image processing, track
DEDICATION
I dedicate this thesis to God and my beloved parents. God always gives me the best, and he provided patience, persistence, knowledge, a healthy mind and body, and all the ease of which support my thesis. My parents always said “work hard now and play later”. So, with all this hard work, I guess it is my time to play. You will always be missed and I cherish every moment with you, mom and dad.
ACKNOWLEDGEMENTS
The author wishes to thank to God, Jesus Christ, for His blessing in his life.
There are many people the author would like to acknowledge that contributed to the success of this thesis paper and the completion of his Bachelors degree.
First, thank to author‟s adoptive father, Dr. Ir. Tutuko Prajogo, MSMfgE, he has been author‟s mentor. His dedication to his students is really evident and patience in guiding the author finish this thesis and also his assistance beyond normal working hours throughout the author‟s time at Swiss German University is greatly appreciated.
Second, the author would like to thank to Dr. Rusman Rusyadi, B.Sc., M.Sc., for introducing him C++ programming language and OpenCV to create image processing. His guidance became key of success for the author and his thesis.
Also special thanks to Dipl.-Ing. Maralo Sinaga for sharing his knowledge in electrical engineering. Edward Boris Manurung, ME for his assistance with teaching the author basic fundamental theory of electric motor.
Thanks to Mr. Edward Dimaz as author‟s friend for his assistance in giving important subject about serial communication in C++ and his time helping this thesis.
The author would like to give a final thanks to all of his friends at Swiss German University, Mr. Adrian Nugroho Tresno, Mr. Andreas, Mr. Darius Budi Santosa, Mr.
Felix Lemena, Mr. Friyandika Tangkealo, Mr. Gunardi Lim, Mr. Heggy, Mr. Johan Christian Sugiarto, and Mr. Yosafat Muriyanto for both technical and non technical assistance.
Finally but obviously most importantly, the author thank to his parents for the love and support they have provided throughout his entire life. They have been there for every decision he has made and help him to achieve everything he had this far.
Hope this can make them proud. His family is irreplaceable. And also thank to author‟s beloved girlfriend, Nancy. She has been there during good times and bad. Thank you for her inspiration and love.
TABLE OF CONTENTS
STATEMENT BY THE AUTHOR ... 2
ABSTRACT ... 3
DEDICATION ... 4
ACKNOWLEDGEMENTS... 5
TABLE OF CONTENTS ... 6
LIST OF FIGURES ... 9
LIST OF TABLE ... 12
LIST OF EQUATIONS ... 13
CHAPTER 1 – INTRODUCTION ... 14
1.1 Background ... 14
1.2 Thesis Problem Identification ... 14
1.3 Thesis Purpose... 15
1.4 Thesis Scope ... 15
1.5 Thesis Limitation ... 16
1.6 Thesis Structure ... 17
CHAPTER 2 – LITERATURE REVIEW ... 19
2.1 Image Processing and Computer Vision ... 19
2.1.1 Image Capture or Storage Device ... 23
2.2 Object Recognition and Its Development ... 23
2.2.1 Face Detection ... 25
2.2.2 Color Based Detection ... 26
2.2.3 Object Detection in Sorting System ... 29
2.3 Serial Communication ... 30
2.4 Controller Used in Targeting System ... 31
CHAPTER 3 – METHODOLOGY ... 33
3.1 Thesis Proposed System Solution ... 33
3.2 System Overview ... 34
3.2.1 System Logic Operation of Image Processing ... 36
3.3 Targeting System Mechanical Design and Construction ... 38
3.4 Motor for Pan and Tilt Mechanism ... 42
3.4.1 Torque Requirement ... 42
3.4.2 Motor Selection ... 44
3.5 Image Sensory Design and Camera Resolution ... 48
3.6 Determining Range of Motor Angular Position (Degree) With Respect To Camera Frame Dimension ... 49
3.7 Image Processing Supported By OpenCV Library... 52
3.7.1 Capture, Convert, and Filtering Image ... 54
3.7.2 Image Smoothing ... 58
3.7.3 Circle Detection (Hough Circle Transform) ... 59
3.8 Camera Gradient ... 61
3.9 Motor Controller Selection ... 62
3.10 Motor Control Method and Its Implementation in Arduino ... 64
3.11 Serial Communication Using Visual C++ ... 66
3.12 PID Motor Controller To Reduce Error Happened ... 68
3.13 Tracking and Positioning Mode ... 72
3.14 Configuring Electric power Supply ... 74
3.15 Laser Triggering Control System ... 75
CHAPTER 4 – TEST AND RESULT ... 77
4.1 Servo Motor Test ... 77
4.1.1 Analog Input Test ... 78
4.1.2 Digital Input and Motor Resolution Test ... 81
4.1.3 PWM Signal Voltage Generated By Arduino test ... 85
4.1.4 Servo Motor Error Test With Laser Movement As Indicator ... 88
4.1.5 Torque Requirement Test ... 96
4.2 Camera Test ... 97
4.2.1 Gradient Test ... 97
4.2.2 Camera Target Error Test... 100
4.3 Pan & Tilt Movement Comparison With and Without PID Algorithm .. 104
4.4 Object Tracking Test ... 107
CHAPTER 5 – CONCLUSION AND RECOMMENDATION ... 108
5.1 Conclusion ... 108
5.2 Recommendation ... 109
GLOSSARY ... 110
REFERENCES ... 111
Appendix A – Source Code ... 114
Appendix B – Electrical Circuit Diagram ... 126
Appendix C – Technical Drawing ... 127
Appendix D – Datasheet ... 135
Appendix E – Bill of Materials ... 146
Curriculum Vitae ... 147
