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Image Based Centre Object Calculation Using Coordinate Averaging Method for Object Following Mobile Robot

Aditya Kurniawan 1, Hendrawan 2, Kholilatul Wardani 1, and Eueung Mulyana 2
1. Politeknik Kota Malang, Raya Tlogowaru no 3, Malang, Indonesia
2. Institut Teknologi Bandung, Ganesha No 10, Bandung, Indonesia

Abstract—Research about robot vision is growing and more focusing on using image processing algorithm to enhance the sensing ability of a robot mobile to aware about its surroundings. This research using Kinect sensor which has 2 cameras, one RGB visible light and IR camera / depth camera both with 640x480 pixels at 30fps (frame per second). An object following method is applied on a 4WD differential mobile robot chassis equipped with Kinect sensor 1.0 running at 640x480 pixels, 30fps. The method using pixel coordinate averaging which summing all the pixel coordinate of the object of interest. Each calculation (vertical and horizontal) will result in a single integer value of coordinate in i or j showing the center of the object. Two tests object using symmetrical and non-symmetrical shows that the center object only moves slightly off about 1 pixel on j axis. The result of the calculation for symmetrical object on j axis is 9 (rounded down) and for the non-symmetrical object is 8 (rounded up). with the calculation on i axis is similar (on pixel 14). 

Index Terms—center object, kinect, mobile robot, object follower

Cite: Aditya Kurniawan, Hendrawan, Kholilatul Wardani, and Eueung Mulyana, "Image Based Centre Object Calculation Using Coordinate Averaging Method for Object Following Mobile Robot," Journal of Automation and Control Engineering, Vol. 8, No. 2, pp. 26-31, December, 2020. doi: 10.18178/joace.8.2.26-31

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