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All Journal Indonesian Journal of Electrical Engineering and Computer Science
Misnan, Mohamad Farid
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Colour sorting ROS-based robot evaluation under different lights and camera angles Saaid, Mohammad Farid; Thamrin, Norashikin M.; Misnan, Mohamad Farid; Mohamad, Roslina; Romli, Nurul A’qilah
Indonesian Journal of Electrical Engineering and Computer Science Vol 36, No 3: December 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v36.i3.pp1807-1815

Abstract

Automated colour sorting, aided by mobile robots, is widely prevalent in the current manufacturing industry. Obstacles, such as fluctuating light conditions and camera angles, frequently hinder this procedure. Creating a colour sorting robot is a complex and time-consuming task, especially due to the vulnerability of the RGB colour space to detection errors in extreme brightness or darkness. In response to these concerns, we introduce a mobile robot that operates on the robot operating system (ROS) platform and incorporates OpenCV. This robot employs the hue, saturation, and value (HSV) colour space model for its image processing capabilities in recognising the colours and Welzl’s algorithm for the ball’s diameter estimation. The robot’s performance was assessed across various luminous fluxes and camera tilt angles. It demonstrated exceptional performance at 64 lm and a tilt angle of 40 degrees, achieving an average accuracy of 87.5% for detecting the colour of the ball, and 81.25% for determining its location based on colour. For the ball’s diameter estimation, it was found that the best estimation was received at 64 lm and 30 degrees, with both 96.32%.
Co-Authors Mohamad, Roslina Romli, Nurul A’qilah Saaid, Mohammad Farid Thamrin, Norashikin M.