<![CDATA[Plastic waste detection in indoor environments is an essential challenge in the development of intelligent cleaning systems and robotic automation. Small and medium-sized plastic debris is often difficult to identify using conventional methods due to variations in color, shape, and reflectance. This study proposes an image-processing-based approach that combines thresholding and contour detection techniques to improve the accuracy of detecting plastic objects on floor surfaces. The initial stage involves converting the image into a color space that is more stable under varying illumination, such as HSV or grayscale, to reduce the influence of lighting intensity. Subsequently, adaptive thresholding is applied to separate plastic objects from the background by using dynamic threshold values tailored to the image’s conditions. The segmentation results are refined through morphological operations such as opening and closing, enabling the removal of small noise and enhancing the clarity of object boundaries. The core stage of the system employs contour detection to extract object shapes and areas, allowing the identification of plastic waste based on size, perimeter, and specific geometric characteristics. Experiments were conducted under different lighting conditions and various floor types, and the results demonstrate that the proposed approach successfully detects plastic debris with satisfactory accuracy and relatively fast processing time. Therefore, this method is suitable for implementation in robotic cleaning systems, indoor cleanliness monitoring devices, and other computer vision applications requiring real-time and efficient object detection.]]>
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