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DAFTAR ISI
LEMBAR PENGESAHAN PEMBIMBING ..................................................Error! Bookmark not d LEMBAR PERNYATAAN KEASLIAN HASIL TUGAS AKHIR..............
ii
LEMBAR PENGESAHAN PENGUJIAN ...................................................... iv HALAMAN PERSEMBAHAN........................................................................
v
HALAMAN MOTO .......................................................................................... vi KATA PENGANTAR ....................................................................................... vii SARI ................................................................................................................... ix TAKARIR ..........................................................................................................
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DAFTAR ISI ...................................................................................................... xi DAFTAR TABEL.............................................................................................. xv DAFTAR GAMBAR ......................................................................................... xvi BAB I PENDAHULUAN ..................................................................................
1
1.1
Latar Belakang ...........................................................................................
1
1.2
Rumusan Masalah......................................................................................
2
1.3
Batasan Masalah ........................................................................................
2
1.4
Tujuan Penelitian .......................................................................................
2
1.5
Manfaat Penelitian .....................................................................................
2
1.6
Metodologi Penelitian................................................................................
3
1.7
Sistematika Penulisan ................................................................................
4
BAB II LANDASAN TEORI ...........................................................................
5
2.1
Perhitungan Jarak ......................................................................................
5
2.1.1
Vektor ..........................................................................................
5
2.1.2
Titik, Garis dan Bidang Dalam Ruang ........................................
6
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2.2
2.1.3
Jarak.............................................................................................
6
2.1.4
Metode Triangulation..................................................................
7
Teknik Pengolahan Citra ...........................................................................
9
2.2.1
Definisi Pengolahan Citra............................................................
9
2.2.2
Geometri Citra .............................................................................
9
2.2.3
Definisi Citra Digital ................................................................... 10
2.2.4
Citra RGB .................................................................................... 11
2.2.5
Cita Grayscale ............................................................................. 11
2.2.6
Tapis Gaussian............................................................................. 12
2.2.7
Pengambangan ............................................................................. 13
2.2.8
Deteksi Tepi Canny ..................................................................... 14
2.2.9
Metode Contours Finding ........................................................... 16
2.2.10
Deteksi Sudut Harris.................................................................... 17
2.2.11
Jarak Euclidean ........................................................................... 21
2.2.12
Momen (Moments) ...................................................................... 21
2.2.13
Pengurutan Koordinat Sudut Objek............................................. 22
2.3
Android Sebagai Media Pengembangan Sistem ........................................ 23
2.4
OpenCv (Open Computer Vision) ............................................................. 25
BAB III METODOLOGI PENELITIAN ....................................................... 26 3.1
Langkah Penelitian .................................................................................... 26
3.2
Analisis Dan Perancangan Akuisis Data ................................................... 29
3.3
3.2.1
Kebutuhan Alat Dan Bahan Untuk Akuisisi Data ....................... 29
3.2.2
Perancangan Akuisisi Data .......................................................... 30
Analisis Pembentukan Deteksi Objek ....................................................... 31 3.3.1
Kebutuhan Input ........................................................................ 31
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3.3.2
Kebutuhan Proses ........................................................................ 32
3.3.3
Kebutuhan Output ....................................................................... 32
3.3.4
Analisis Kebutuhan Perangkat Lunak ......................................... 32
3.3.5
Analisis Kebutuhan Perangkat Keras .......................................... 33
3.4
Analisis Pembentukan Model Jarak .......................................................... 33
3.5
Perhitungan Jarak ...................................................................................... 34
3.6
Mekanisme Evaluasi .................................................................................. 34
BAB IV PERANCANGAN SISTEM ............................................................... 35 4.1
Deteksi Objek ............................................................................................ 35
4.2
Model Jarak ............................................................................................... 40
4.3
4.2.1
Pembentukan Variabel Pendukung.............................................. 40
4.2.2
Penentuan Sudut rotasi dan Sudut Vertikal ................................. 41
4.2.3
Pendukung Bidang Sumbu Pada Model Jarak............................. 41
Perancangan Evaluasi ................................................................................ 44
BAB V HASIL DAN PEMBAHASAN ............................................................ 45 5.1
5.2
Hasil ........................................................................................................... 45 5.1.1
Proses Input Gambar ................................................................... 45
5.1.2
Proses Grayscale ......................................................................... 45
5.1.3
Proses Deteksi Tepi ..................................................................... 46
5.1.4
Proses Momenpusat, Deteksi Sudut dan Pengurutan Sudut ........ 46
5.1.5
Implementasi Antarmuka Sistem Sumbu X, Y dan Z ................. 47
5.1.6
Antarmuka Sistem Implementasi Tringulation ........................... 48
Hasil Evaluasi ............................................................................................ 48 5.2.1
Pengujian Sumbu X, Y dan Z ...................................................... 48
5.2.2
Pengujian Perhitungan Triangulation.......................................... 53
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5.3
Pembahasan ............................................................................................... 63
BAB VI KESIMPULAN DAN SARAN........................................................... 64 6.1
Kesimpulan ................................................................................................ 64
6.2
Saran .......................................................................................................... 64
DAFTAR PUSTAKA ........................................................................................lxvii
xv
DAFTAR TABEL Tabel 5.1 Pengujian Sumbu X Pada Posisi Tengah ........................................... 48 Tabel 5.2 Pengujian Sumbu X Pada Posisi Belakang ........................................ 49 Tabel 5.3 Data Pengujian Sumbu Y ................................................................... 51 Tabel 5.4 Data Pengujian Pada Sumbu Z ........................................................... 52 Tabel 5.5 Data Pengujian Triangulation ............................................................ 53 Tabel 5.6 Model Summary Regresi Nilai X........................................................ 55 Tabel 5.7 Anova Regresi Nilai X ....................................................................... 55 Tabel 5.8 Coefficients Regresi Nilai X ............................................................... 55 Tabel 5.9 Paired Sample Statistics Nilai X ........................................................ 56 Tabel 5.10 Paired Sample Correlations Nilai X ................................................ 56 Tabel 5.11 Paired Sample Test Nilai X .............................................................. 56 Tabel 5.12 Model Summary Regresi Nilai Y...................................................... 57 Tabel 5.13 Anova Regresi Nilai Y ..................................................................... 58 Tabel 5.14 Anova Regresi Nilai Y ..................................................................... 58 Tabel 5.15 Paired Sample Statistic Nilai Y........................................................ 59 Tabel 5.16 Paired Sample Correlations Nilai Y ................................................ 59 Tabel 5.17 Paired Sample Test Nilai Y .............................................................. 59 Tabel 5.18 Model Summary Nilai Z ................................................................... 60 Tabel 5.19 Anova Nilai Z ................................................................................... 60 Tabel 5.20 Coefficients Nilai Z .......................................................................... 61 Tabel 5.21 Paired Samples Ststistics Nilai Z ..................................................... 62 Tabel 5.22 Paired Sample Correlations Nilai Z ................................................ 62 Tabel 5.23 Paired Sample Test Nilai Z .............................................................. 62
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DAFTAR GAMBAR Gambar 2.1 (a) Vektor AB (b) Vektor-Vektor Ekivalen ...................................
5
Gambar 2.2 Penjumlahan Vektor ......................................................................
5
Gambar 2.3 Contoh Representasi Titik dan Garis (Karso, et al., 2010) ............
6
Gambar 2.4 Contoh Representasi Bidang (Karso, et al. 2010)..........................
6
Gambar 2.5 Jarak Antara Tumpukan Buku dan Kursi (Krismanto, 2008) ........
7
Gambar 2.6 Ilustrasi Kursi dan Tumpukan Buku (Krismanto, 2008) ..............
7
Gambar 2.7 Pengaturan Pengamatan Kamera (Salih & Malik, 2012)...............
8
Gambar 2.8 Model Trigonometri Koodinat 3D (Salih & Malik, 2012) ............
9
Gambar 2.9 Diagram Proyeksi Pembentukan Citra (Ahmad, 2005) ................. 10 Gambar 2.10 Contoh Citra Digital .................................................................... 11 Gambar 2.11 Contoh Citra RGB ....................................................................... 11 Gambar 2.12 Contoh Citra Grayscale ............................................................... 12 Gambar 2.13 Cadar Gaussian (Kadir & Susanto, 2013) ................................... 14 Gambar 2.14 Matriks Piksel Dengan Ordo 5×5 (Kadir & Susanto, 2013) ........ 15 Gambar 2.15 Area Konversi Arah Tepi Sesuai Ketegori (Kadir, 2013) ........... 15 Gambar 2.16 Ilustrasi Algoritma Border Following (Suzuki, 1985) ................ 16 Gambar 2.17 Gradien Garis (Bilal, 2014) ......................................................... 18 Gambar 2.18 Pencuplikan (Windowing) (Bilal, 2014) ...................................... 18 Gambar 2.19 Jenis Wilayah Region (Bilal, 2014) ............................................. 18 Gambar 2.20 Fungsi penjedelaan klasik dan gaussian (Bilal, 2014) ................. 19 Gambar 2.21 Klasifikasi Titik Citra Nilai Eigen (Bilal, 2014) ......................... 19 Gambar 2.22 Pengukuran Nilai Corner (Bilal, 2014) ....................................... 21 Gambar 2.23 Pengurutan (Sjukani, 2009) ......................................................... 23 Gambar 2.24 Distribusi Persebaran Versi Android ........................................... 23 Gambar 2.25 Arsitektur Sistem Opreasi Android ............................................. 24 Gambar 3.1 Diagram Langkah Penelitian ......................................................... 26 Gambar 3.2 Perancangan Akuisisi Data ............................................................ 30 Gambar 3.3 Hasil Perancangan Akuisisi Data................................................... 30 Gambar 3.4 Objek Kertas .................................................................................. 31
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Gambar 3.5 Garis Sebagai Ilustrasi Sumbu X, Y dan Z .................................... 31 Gambar 4.1 Diagram Alir Deteksi Sudut .......................................................... 37 Gambar 4.2 Diagram Alir Proses Non Max Suppression .................................. 38 Gambar 4.3 Diagram Alir Mencari Posisi Kuadran Sudut ................................ 39 Gambar 4.4 Pengurutan Sudut Dengan Metode Bubble Sort ............................ 40 Gambar 4.5 Diagram Alir Metode Triangulation ............................................. 41 Gambar 4.6 Diagram Alir Untuk Mencari Persumbu Bidang X, Y dan Z ........ 42 Gambar 4.7 Diagram Alir Menghitung Jarak Titik Objek ................................ 43 Gambar 5.1 Proses Input Citra .......................................................................... 45 Gambar 5.2 Hasil Proses Grayscale .................................................................. 46 Gambar 5.3 Hasil Proses Deteksi Tepi .............................................................. 46 Gambar 5.4 Hasil Proses Momen Pusat, Deteksi dan Pengurutan Sudut .......... 47 Gambar 5.5 Tampilan Implementasi Sumbu X, Y dan Z .................................. 47 Gambar 5.6 Tampilan Implementasi Triangulation .......................................... 48 Gambar 5.7 Grafik Linier Sumbu X Garis Tengah ........................................... 49 Gambar 5.8 Grafik Linier Sumbu X Garis Belakang ........................................ 50 Gambar 5.9 Grafik Regresi Linier Pada Sumbu Y ............................................ 52 Gambar 5.10 Grafik Regresi Linear Pada Sumbu Z .......................................... 53 Gambar 5.11 Grafik Regresi Linier Nilai X ...................................................... 55 Gambar 5.12 Grafik Regresi Linier Nilai Y ...................................................... 57 Gambar 5.13 Grafik Regresi Linier Nilai Z ...................................................... 60
