SISTEM PENGENALAN DAN PENELUSURAN GARIS LINTASAN MENGGUNAKAN AR.DRONE BERBASIS PENGOLAHAN CITRA; RECOGNITION AND SURVEILLANCE SYSTEM OF TRACK LINE USING AR.DRONE BASED ON IMAGE PROCESSING

DZIKRI PURNAMA, Bakhtiar Alldino

2015 | Skripsi | FMIPA

Drone is an unmanned aerial vehicle, in other words it doesn’t need pilot inside of the airframe. Recently, the use of drone is needed increasingly i.e capturing images and videos for business and entertainment. Not only that, the use of drone penetrates into research and academics field. One of them is the use of digital image processing which implement with a camera on the drone. Parrot AR.Drone is a drone which meets with its criteria. In this research, it is built recognition and surveillance system of a track line using AR.Drone based on digital image processing. Digital image processing is implemented on ROS platform that is used to connect drone with PC using OpenCV library. The methods which is used are color thresholding and region of image (ROI) for track line detection and image moments to determine the movement of drone while tracing the track line. The result from this research is a system on AR.Drone that is capable to recognize and trace the track line which has black color. System is tested by determining the threshold color value to detect the track line, testing width contour line which is compared by the height of drone, computating time of the program in static and dynamic state, detection the track line testing and tracing the track line testing in a straight and turn line. The conclusions are the level intensity of light affects to thresholding value of HSV, computating time of the program to recognize the line is 0,0003 seconds.

Kata Kunci : N