Open Access Open Access  Restricted Access Subscription or Fee Access

Robust and Low-Cost Color Sensor using Goertzel Algorithm for Marker Detection Robot

Rayi Yanu Tara, Teguh Bharata Adji

Abstract


Colored marker detection is one of many possible techniques that are used in robotic competition. Most of the contestants use a color sensor built from the combination of simple photo-reflective circuit and comparator circuit to deduce the marker color. By applying this simple technique, any noises from indoor lighting exposure change and camera flash will give false reading from the sensor. A novel color sensor is proposed here to solve this problem. This sensor utilizes photo-reflective circuit that uses two different colored and modulated light sources. The intensity of each reflected color from photo-reflective circuit is calculated by measuring its power spectrum value using Goertzel algorithm. The marker color is inferred by matching the calculation result with some previously calculated calibration values. Employing this model, colored marker detection based on photo-reflective circuit becomes robust against noises, thus will have more accurate readings.

Keywords


Robust, low cost, colored marker, sensor, Goertzel algorithm..

Full Text:

PDF


Disclaimer/Regarding indexing issue:

We have provided the online access of all issues and papers to the indexing agencies (as given on journal web site). It’s depend on indexing agencies when, how and what manner they can index or not. Hence, we like to inform that on the basis of earlier indexing, we can’t predict the today or future indexing policy of third party (i.e. indexing agencies) as they have right to discontinue any journal at any time without prior information to the journal. So, please neither sends any question nor expects any answer from us on the behalf of third party i.e. indexing agencies.Hence, we will not issue any certificate or letter for indexing issue. Our role is just to provide the online access to them. So we do properly this and one can visit indexing agencies website to get the authentic information.