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Journal : International Journal of Advances in Intelligent Informatics

Augmented haar cascade classifier for real-time ball detection in humanoid robots under dynamic environments Setyawan, Gembong Edhi; Widasari, Edita Rosana; Prasetio, Barlian Henryranu; Umar, Yasa Palaguna; Adipratama, Ivan Rafli
International Journal of Advances in Intelligent Informatics Vol 12, No 1 (2026): February 2026
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26555/ijain.v12i1.2146

Abstract

This study proposes an Augmented Haar Cascade Classifier (AHCC) to enhance real-time ball detection for humanoid robots operating in dynamic environments. The method integrates Convex Hull mapping, HSV-based segmentation, and Hough Circle validation to overcome challenges such as fluctuating illumination, complex backgrounds, and partial occlusions. Experiments were conducted entirely on a CPU-only Intel NUC platform running ROS without GPU acceleration, using a dataset containing variations in lighting, orientation, scale, and background clutter. Compared with baseline models (standard Haar Cascade Classifier (HCC) and YOLOv5) the proposed AHCC achieved 97% accuracy, 83% recall, 97% precision, and an 89% F1-score, while requiring only 0.00849 s per frame with 8.97% memory usage. Although YOLOv5 reached 99% accuracy, it demanded higher computational resources (0.0344 s per frame, 22.3% memory usage), limiting its practicality for embedded robotic systems. The AHCC therefore offers an optimal balance between detection reliability and computational efficiency, outperforming traditional HCC and providing a lightweight alternative to GPU-dependent detectors such as Tiny-YOLO and MobileNet-SSD.
Co-Authors Achmad Ridok Adharul Muttaqin Adi Setiawan Adipratama, Ivan Rafli Adven Edo Prasetya Adven Edo Prasetya, Adven Edo Agra Firmansyah Ahmad Afif Supianto Aldi Jayadi Ali, Zidane Allaam, Fakhrul Argaputri, Maulida Khairunisa Arief Kurniawan Aryo Pinandito Ash-Shadiq, Aqsath Muhammad Aswin Suharsono, Aswin Atmojo Pamungkas, Handoko Bagus Ayu Astina Sari, Ni Made Baariu, Rahagi Abdu Bagus Priyo Pangestu Brylliano Maza Putra Budi Darma Setiawan Budy Prakoso, Khrisna Shane Chatarina Umbul Wahyuni Dahnial Syauqy Dayat, Fauzi Syarifulloh Defri Alif Raihan Denny Sagita Rusdianto Dhimas Arfian Lazzuardhy Dini Eka Ristanti Dini Ismawati Dwiki Ilham Bagaskara Dwinanda Romolo Edita Rosana Widasari Edita Rosana Widasari, Edita Rosana Eko Setiawan Eko Setiawan Eko Setiawan Fabiana, Ryzaldi Ananda Fachry Ananta Fadhilah, Khairian Fadhillah, Muhammad Galih Faisal Natanael Lubis Faviansyah Arianda Pallas Faza Gustaf Marrera Fitra Abdurrachman Bachtiar Fitriyah, Hurriyatul Gembong Edhi Setiawan Gembong Edhi Setyawan Ghifari, Ahmad Hafidz Abdillah Masruri Hanifa Maulani Ramadhan Haqyah, Saprina Hani Heru Nurwarsito Hilal Imtiyaz I Wayan Boby Astagina Naghi Imam Cholissodin Iqbal Maulana Susanto Irfan Muzakky Nurrizqy Irwanda Adhi Firmantara Isnandar, Muhammad Fawwaz Dynoeputra Iwasawa, Takeru Jevandika Joan Chandra Kustijono Julisya Thana Khriswanti Kamal, Attar Syifa Kusuma, Lindhu Parang La Ode Adriyan Hazmar Lailil Muflikhah Lavanna Indanus Ramadhan M. Hannats Hanafi Ichsan M. Ihsan An-Nashir Mahardika, Aryanta Seta Mochammad Hannats Hanafi Mochammad Hannats Hanafi Ichsan Muchlas Mughniy Muflih, Aufada Muhammad Fatikh Hidayat Muhammad Ghifari, Muhammad Muhammad Habib Jufah Alhamdani Muhammad Nabil Aljufri Muhammad Rizki Chairurrafi Nadi Rahmat Endrawan Nashrullah, Ega Rasendriya Nashrullah, Ikbar Razan Naviaddin, Arsal Wildan Ngulandoro, Mochammad Giri Wiwaha Nobel Edgar Novaria Elsari Ryzkiansyah Novea, Leisha Nur, Farhan Marwandi Nurrizqy, Irfan Muzakky Nurul Hidayat Ovriawan Aldo Pribadi Putra Paleva, Haidar Rheza Panggabean, Riki Boy Parja, Mujianto Anda Perkasa, Septiyo Budi Permana, Galih Pierl Kritzenger Sinaga Prawironegoro, Abdul Harris Putera, Thariq Andhita Putra Pamungkas, Dimas Resha Putra, Brylliano Maza Putra, Ravelino Adhianto Surya Raden Galih Paramananda Rahmawan, Muhammad Fuad Rajasa, Mohammad Fariq Rakhmadhany Primananda, Rakhmadhany Ramadhan, Dimas Ramadhan, Muhammad Fitrah Ramadhani, Aryo Sheva Randy Cahya Wihandika Rekyan Regasari Mardi Putri, Rekyan Regasari Mardi Reza Hastuti Riyad Febrian Rizal Maulana Rizal Maulana, Rizal Rosyana Lencie Mampioper Ryan Anggito Priono Sabriansyah Rizkiqa Akbar Sabriansyah Rizqika Akbar Sabriansyah Rizqika Akbar Septiyo Budi Perkasa Shabiyya, Syifa’ Hukma Sifaunnufus Ms, Fi Imanur Sigit Priyo Jatmiko Subianto, Aflah Fadhlurrahman Syahrul Chilmi, Syahrul Tampubolon, Jeremya Tiara Mahardika Tibyani Tibyani Utaminingrum, Fitri Valensiyah Rozika Widasari, Edita Rosana Wijaya Kurniawan Wijaya Kurniawan Yasa Palaguna Umar, Yasa Palaguna Yosia Nindra Kristiantya Yudhistira, Gevan Putra Yunan Alamsyah Nasution Yusril Dewantara Yusuf, Delfi Olivia