LINE TRACKING ROBOT USING VISION SYSTEMS CHE ROHAZLI BIN CHE MAZLAM
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1 i LINE TRACKING ROBOT USING VISION SYSTEMS CHE ROHAZLI BIN CHE MAZLAM This thesis is submitted as partial fulfillment of the requirements for the award of the Bachelor of Electrical Engineering (Hons.) (Electronics) Faculty of Electric & Electronics Universiti Malaysia Pahang NOVEMBER 2010
2 UNIVERSITI MALAYSIA PAHANG BORANG PENGESAHAN STATUS TESIS JUDUL: LINE TRACKING ROBOT USING VISION SYSTEM SESI PENGAJIAN: 2010/2011 SESI PENGAJIAN: 2005/2006 Saya CHE ROHAZLI BIN CHE MAZLAM ( ) (HURUF BESAR) mengaku membenarkan tesis (Sarjana Muda/Sarjana /Doktor Falsafah)* ini disimpan di Perpustakaan dengan syarat-syarat kegunaan seperti berikut: 1. Tesis adalah hakmilik Universiti Malaysia Pahang (UMP). 2. Perpustakaan dibenarkan membuat salinan untuk tujuan pengajian sahaja. 3. Perpustakaan dibenarkan membuat salinan tesis ini sebagai bahan pertukaran antara institusi pengajian tinggi. 4. **Sila tandakan ( ) SULIT TERHAD (Mengandungi maklumat yang berdarjah keselamatan atau kepentingan Malaysia seperti yang termaktub di dalam AKTA RAHSIA RASMI 1972) (Mengandungi maklumat TERHAD yang telah ditentukan oleh organisasi/badan di mana penyelidikan dijalankan) TIDAK TERHAD Disahkan oleh: (TANDATANGAN PENULIS) (TANDATANGAN PENYELIA) Alamat Tetap: LORONG BAIDURI, KG GONG KASIM, PN NOR FARIZAN BINTI ZAKARIA MERCHANG, MARANG, ( Nama Penyelia ) TERENGGANU Tarikh: 30 NOVEMBER 2010 Tarikh: 30 NOVEMBER 2010 CATATAN: * Potong yang tidak berkenaan. ** Jika tesis ini SULIT atau TERHAD, sila lampirkan surat daripada pihak berkuasa/organisasi berkenaan dengan menyatakan sekali tempoh tesis ini perlu dikelaskan sebagai atau TERHAD. Tesis dimaksudkan sebagai tesis bagi Ijazah doktor Falsafah dan Sarjana secara Penyelidikan, atau disertasi bagi pengajian secara kerja kursus dan penyelidikan, atau Laporan Projek Sarjana Muda (PSM).
3 vii TABLE OF CONTENTS PAGE TITLE STUDENT S DECLARATION STUDENT S DEDICATION ACKNOWEDGEMENT ABSTRACT ABSTRAK TABLES OF CONTENTS LIST OF TABLES LIST OF FIGURES LIST OF SYMBOL LIST OF ABBREVIATION LIST OF APPENDICES i ii iii iv v vi vii xi xii xiv xv xvi CHAPTER 1 INTRODUCTION 1.1 Overview Problem Statement Objectives Scope of Project Thesis Outline 4
4 viii CHAPTER 2 LITERATURE REVIEW 2.1 Introduction An Image Processing System for Visual Servoing 5 of Mobile Robots and Object Tracking Camera Data Acquisition Camera Interfacing for Robotics Image Processing Training Module Image Enhancement Technique Image Restoration Technique Image Filtering Technique Graphical User Interface (GUI) Writing Callbacks Position Estimation from Monocular Camera Image Scaling Evaluation with Field Images Image Processing Algorithm Threshold Median Filter Hough Transform Edge Detection 16 CHAPTER 3 METHOLODGY 3.1 Introduction Phase II: Hardware Design Four Wheels Robot 19
5 ix Webcam Power Window Motor PCI 4716 (Data Acquisition Card) Phase II: Software Implementation Image Acqusition Toolbox Image Processing Toolbox RGB Images Grayscale Image Histogram Equalization Binary Image Morphology (Dilation Method) Thinning Method Graphical User Interface (GUI) Layout the GUI Programming the GUI Phase III: Hardware Interfacing Robot Interface with PC Pin Assignment for PCI (Data Acquisition Card) Webcam Interface with PC 37
6 x CHAPTER 4 RESULT AND DISCUSSION 4.1 Introduction Hardware Design Robot Interface with PC Graphical User Interface (GUI) Software Development RGB Image Grayscale Image Histogram Equalization Binary Image Morphology (Dilation Method) Thinning Method Insert Line in an Image Theorem Phytagoras 50 CHAPTER 5 CONCLUSION 5.1 Conclusion Future Recommendation Limitations of the Project 53 REFERENCES 54 APPENDICES 56 A Datasheets 56 B Algorithm.Coding 61 C Pictures of Hardware Design 74 D Installation Guide for PCI
7 xi LIST OF TABLES Table No. Title Page 2.1 Image types for file format List of the command for enhancement List of components 20
8 xii LIST OF FIGURES Figure No. Title Page 2.1 The prototype circuit board to fit inside a mobile hobby robot Image with noise Image without noise The system of denoising model Block Diagram of the systems Process flow for the robot Prototype of the robot Type of the Webcam used Power Window Motor Power Window Motor attached with wheel PCI 1710 (Data Acquisition Card) List of the adaptors List of properties video input object List of properties of the object with current values GUIDE Quick Start Dialog Box Layout Editor GUIDE Preferences 34
9 xiii 3.14 Example of the GUI programming Circuit connection between PCI 1710 Slot Circuit for Interface between Robot and PC I/O Connector Pin Assignment Connection between webcam and PC The Prototype of Robot Connection Circuit with PC Circuit for interface PCI 1710 with Robot The GUI that create in the project The GUI for collecting data Video to JPG image Converter RGB Image Gray Scale Image Histogram for Grayscale Image Histogram Equalization Image Histogram for Equalization Image Binary Image Dilated Image Thinning Image Insert Straight Line in an Image Calculate Angle Using Theorem Pythagoras Theorem Pythagoras Shape 50
10 xiv LIST OF SYMBOL V rpm A MHz Voltage radian per minutes Ampere Megahertz
11 xv LIST OF ABBREVIATION PC PCI GUI USB DAQ I/O GUIDE MATLAB VGA RGB DSP SDRAM IC JPEG TIFF PNG ROI DLL Personal Computer Peripheral Component Interconnect Graphical User Interface Universal Serial Bus Data Acquisition Input/Output Graphical User Interface Design Environment Matrix Laboratory Video Graphic Array Red Green Blue Digital Signal Processing Synchronous Dynamic Random Access Memory Intergrated Circuit Joint Photographic Experts Group Tagged Image File Format Portable Networks Graphics Region of Interest Dynamic Link Library
12 xvi LIST OF APPENDICES Appendix Title Page A Datasheets 56 B Algorithm/Coding 61 C Pictures of Hardware Design 74 D Installation Guide for PCI
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