SISTEM DETEKSI OBJEK MENGGUNAKAN METODE HSV DAN BINOCULAR DISPARITY PADA TURTLEBOT3

Abstract

The development of technology is one of the factors that help humans in doing their daily work. Turtlebot3 is a mobile robot that can move from one place to another using wheels. The problem with turtlebot3 is that both cameras cannot be used to detect and measure the depth of objects, especially spherical objects. One way to detect objects is to use color selection. The color selection method is HSV, and other way to measure distance is to use left and right vision. The method used to measure distance is using binocular disparity which is applied to a stereo camera. The research was carried out to test detect objects using the HSV method and measuring object distances using the binocular disparity method applied to stereo cameras. The research was conducted at different lighting conditions, for 106 lux the highest percent error value at distance of 30cm is 1.65% and for 53 lux it has the highest percent error value at distance of 120cm, which is 4.48%.