Improvement of Auto-Tracking Mobile Robot based on HSI Color Model

Auto tracking mobile robot is a device that able to detect and track a target. For an auto tracking device, the most crucial part of the system is the object identification and tracking of the moving targets. In order to improve the accuracy of identification of object in different illumination and...

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Main Authors:	Sundarajoo, Suresh, Ahmad Shahrizan, Abdul Ghani
Format:	Article
Language:	English
Published:	Institute of Advanced Engineering and Science 2018
Subjects:	Q Science (General) QC Physics TC Hydraulic engineering. Ocean engineering TD Environmental technology. Sanitary engineering TF Railroad engineering and operation TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/23969/ http://umpir.ump.edu.my/id/eprint/23969/ http://umpir.ump.edu.my/id/eprint/23969/ http://umpir.ump.edu.my/id/eprint/23969/1/2018%20Improvement%20of%20Auto-Tracking%20Mobile%20Robot%2015266-28154-1-PB.pdf

id	ump-23969
recordtype	eprints
spelling	ump-239692019-01-29T03:18:41Z http://umpir.ump.edu.my/id/eprint/23969/ Improvement of Auto-Tracking Mobile Robot based on HSI Color Model Sundarajoo, Suresh Ahmad Shahrizan, Abdul Ghani Q Science (General) QC Physics TC Hydraulic engineering. Ocean engineering TD Environmental technology. Sanitary engineering TF Railroad engineering and operation TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics TS Manufactures Auto tracking mobile robot is a device that able to detect and track a target. For an auto tracking device, the most crucial part of the system is the object identification and tracking of the moving targets. In order to improve the accuracy of identification of object in different illumination and background conditions, the implementation of HSI color model is used in image processing algorithm. In this project HSI-based color enhancement algorithm were used for object identification. This is because HSI parameter are more stable in different light and background conditions, so it is selected as the main parameters of this system. Pixy CMUcam5 is used as the vision sensor while Arduino Uno as the main microcontroller that controls all the input and output of the device. Moreover, two servo motors were used to control the pan-tilt movement of the vision sensor. Experimental results demonstrate that when HSI color-based filtering algorithm is applied to visual tracking it improves the accuracy and stability of tracking under the condition of varying brightness, or even in the low-light-level environment. Besides that, this algorithm also prevents tracking loss due to object color appears in the background. Institute of Advanced Engineering and Science 2018-12-01 Article PeerReviewed pdf en cc_by_nc_4 http://umpir.ump.edu.my/id/eprint/23969/1/2018%20Improvement%20of%20Auto-Tracking%20Mobile%20Robot%2015266-28154-1-PB.pdf Sundarajoo, Suresh and Ahmad Shahrizan, Abdul Ghani (2018) Improvement of Auto-Tracking Mobile Robot based on HSI Color Model. Indonesian Journal of Electrical Engineering and Computer Science, 12 (3). pp. 1349-1357. ISSN 2502-4752 http://dx.doi.org/10.11591/ijeecs.v12.i3.pp1349-1357 http://dx.doi.org/10.11591/ijeecs.v12.i3.pp1349-1357
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	Q Science (General) QC Physics TC Hydraulic engineering. Ocean engineering TD Environmental technology. Sanitary engineering TF Railroad engineering and operation TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics TS Manufactures
spellingShingle	Q Science (General) QC Physics TC Hydraulic engineering. Ocean engineering TD Environmental technology. Sanitary engineering TF Railroad engineering and operation TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics TS Manufactures Sundarajoo, Suresh Ahmad Shahrizan, Abdul Ghani Improvement of Auto-Tracking Mobile Robot based on HSI Color Model
description	Auto tracking mobile robot is a device that able to detect and track a target. For an auto tracking device, the most crucial part of the system is the object identification and tracking of the moving targets. In order to improve the accuracy of identification of object in different illumination and background conditions, the implementation of HSI color model is used in image processing algorithm. In this project HSI-based color enhancement algorithm were used for object identification. This is because HSI parameter are more stable in different light and background conditions, so it is selected as the main parameters of this system. Pixy CMUcam5 is used as the vision sensor while Arduino Uno as the main microcontroller that controls all the input and output of the device. Moreover, two servo motors were used to control the pan-tilt movement of the vision sensor. Experimental results demonstrate that when HSI color-based filtering algorithm is applied to visual tracking it improves the accuracy and stability of tracking under the condition of varying brightness, or even in the low-light-level environment. Besides that, this algorithm also prevents tracking loss due to object color appears in the background.
format	Article
author	Sundarajoo, Suresh Ahmad Shahrizan, Abdul Ghani
author_facet	Sundarajoo, Suresh Ahmad Shahrizan, Abdul Ghani
author_sort	Sundarajoo, Suresh
title	Improvement of Auto-Tracking Mobile Robot based on HSI Color Model
title_short	Improvement of Auto-Tracking Mobile Robot based on HSI Color Model
title_full	Improvement of Auto-Tracking Mobile Robot based on HSI Color Model
title_fullStr	Improvement of Auto-Tracking Mobile Robot based on HSI Color Model
title_full_unstemmed	Improvement of Auto-Tracking Mobile Robot based on HSI Color Model
title_sort	improvement of auto-tracking mobile robot based on hsi color model
publisher	Institute of Advanced Engineering and Science
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/23969/ http://umpir.ump.edu.my/id/eprint/23969/ http://umpir.ump.edu.my/id/eprint/23969/ http://umpir.ump.edu.my/id/eprint/23969/1/2018%20Improvement%20of%20Auto-Tracking%20Mobile%20Robot%2015266-28154-1-PB.pdf
first_indexed	2023-09-18T22:36:06Z
last_indexed	2023-09-18T22:36:06Z
_version_	1777416606228414464

Improvement of Auto-Tracking Mobile Robot based on HSI Color Model

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