v
TABLE OF CONTENTS
Abstract i
Abstrak ii
Dedication iii
Acknowledgement iv
Table of Content v
List of Figures vii
List of Tables viii
List of Abbreviation ix
1. INTRODUCTION
1 1.1
Background 1
1.2 Problem statement
2 1.3
Objectives of project 3
1.4 Scope
3 1.5
Project Outline 3
2. LITERATURE REVIEW
4 2.1
Overview 4
2.2 Charge-Couple Device CCD Camera
4 2.2.1
A Review of Current Research of CCD Camera 5
2.2.2 Basic Principle of CCD Camera
6 2.2.3
CCD Camera Functionality 6
2.2.4 CCD Camera Calibration Technique
7
3. METHODOLOGY
13 3.1
Overview 13
3.2 Introduction of Experiment
13 3.2.1
Equipment Involved 14
3.2.1.1 Omron F500 Vision System 14
3.2.1.2 Conveyor System 17
vi 3.2.1.3 Lighting System
17 3.2.2
Specimen Preparation 18
3.2.3 Checkerboard Image Pattern 19
3.2.3.1 Computer Program MATLAB 20
3.2.3.2 Parameter Consideration 21
3.2.3.4 Dimensional Accuracy 21
3.2.3.5 Procedure of Experiment 22
3.2.3.6 Calibration Matrix Equation 24
3.2.4 Calibration board with 40 coded fiducials 25
3.2.4.1 Matlab calibration toolbox 26
3.2.4.2 Procedure of experiment 26
3.2.5 Initial Plumb Line Calibration 29
3.2.5.1 Setting consideration 29
3.2.5.2 Procedure of Experiment 30
3.3 Calibration Methods
31 3.4
Taguchi Method 33
3.4.1 Orthogonal Array 33
3.4.2 Data Analysis 34
3.4.2.1 Level Average Analysis 34
3.4.2.2 Signal to Noise Ratio 35
3.5 Statistical Package for the Social Sciences SPSS
36 3.6
Analysis of Variance ANOVA 37
3.7 Duncan Method
39 3.8
Project Planning Flow Chart 40
3.9 Actual Project Flow Chart
41
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4. RESULT AND ANALYSIS
42 4.1
Result and analysis on calibration data 42
4.1.1 Calibration data
42 4.1.1.1 Camera Calibration Toolbox Bouquet
57 4.1.1.2 Camera Calibration Toolbox Zhang
58 4.1.1.3 Camera Calibration Toolbox Heikeila
59 4.2
Pixel error at x-axis 60
4.2.1 Calibration Data Bouquet
60 4.2.1
Calibration Data Zhang 62
4.2.1 Calibration Data Heikeila
64 4.3
Pixel error at y-axis 66
4.3.1 Calibration Data Bouquet
66 4.3.1
Calibration Data Zhang 68
4.3.1 Calibration Data Heikeila
70
5. DISCUSSION
72 5.1
Design Tools Taguchi, ANOVA, DUNCAN SPSS 72
5.2 Pixel Error
72 5.3
Relationship between Image Patterns Toolbox at X-axis 73
5.4 Relationship between Image Patterns Toolbox at Y-axis
74
6. CONCLUSION AND RECOMMENDATION
