TELKOMNIKA
Location and Position Determ
2.3.2. Robot-Goalpost Distan
A goalpost that has image plane as shown in Fig
fixed value, the rectangle will rectangle’s width and the dista
the COG method and Android
The distance betwee equation [13]:
tg tg
rg
d D
f j
Where j
rg
= the distance betwee f
= the camera focus c D
tg
= the goalpost’s real wi d
tg
= the projected goalpo The goalpost’s dete
The projected goalpost’s width the conversion value between
The camera resoluti object detected on the screen
using the following formula:
L d
R p
ob ob
Where : p
ob
= the width of the proj R
= the screen resolution d
ob
= the width of objects d L
= the screen’s width c The camera focus of
The screen resolution R is 4 calculated using Equation 2
respectively. The following equ
tg tg
tg tg
rg
L p
R fD
R L
p D
f j
ISSN: 1693-6930
termination Algorithm for Humanoid Soccer… Oei K
tance Measurement
s cylindrical shape will be projected as a rectangle igure 6. If the distance between the robot and th
will have the same width seen by the robot from ev istance between the robot and the goalpost can be
id OpenCv.
Figure 6. The detected goalpost een the robot and the goalpost can be calculated u
ween robot and goalpost cm cm
l width cm lpost’s width on image plane cm
tection process detects the width of the goalpost width on image plane in Equation 2 uses centimeter
en centimeter and pixel units is necessary. lution which is used as the robot vision is 480 pi
en with a length of d
ob
will use p
ob
pixels which c
rojection of an object in the image plane pixel tion pixels
ts detected on the screen cm cm
of f has 7.2 cm in length. The goalpost’s real wid is 480 pixels. The screen width L is 6.4 cm. The
2 and Equation 3 by substituting d
ob
and p
ob
equation is the result of substituting Equation 2 and
tg g
tg
p L
R 5400
i Kurniawan Utomo 7
gle on the camera’s the goalpost has a
every position. The be calculated using
using the following
2
st using pixel units. ter units. Therefore,
pixels in width. An h can be calculated
3
idth D
tg
is 10 cm. he j
rg
value can be
ob
with d
tg
and p
tg
nd Equation 3:
4
ISSN: 1693-6930
TELKOMNIKA Vol. 14, No. 1, March 2016 : 4 – 13
8 The robot’s Cartesian coordinate x
rg
and y
rg
relative to a goalpost as shown in Figure 7 is calculated using the trigonometric equation. The coordinate of the robot position on the field
can be calculated by translating the robot’s relative coordinate based on the detected goalpost.
Figure 7. The distance between the ball and the robot
2.4. The Ball Location on the Field
Kategori