PENENTUAN LINTASAN VISUAL MENGGUNAKAN ALGORITMA A* (A STAR) BERBASIS KINECT
TUGAS AKHIR
Sebagai Persyaratan Guna Meraih Gelar Sarjana Strata 1 Teknik Informatika Universitas Muhammadiyah Malang
Oleh : Adhiesa Mulyani 09560083
JURUSAN TEKNIK INFORMATIKA FAKULTAS TEKNIK UNIVERSITAS MUHAMMADIYAH MALANG 2013
KATA PENGANTAR Dengan memanjatkan puji syukur kehadirat Allah subhanahu wa ta’ala yang telah melimpahkan rahmat, taufik dan hidayahNya, sehingga penulis dapat menyelesaikan tugas akhir yang berjudul : “PENENTUAN LINTASAN VISUAL MENGGUNAKAN ALGORITMA A* (ASTAR) BERBASIS KINECT“ Di dalam tulisan ini disajikan pokok-pokok pembahasan yang meliputi pendahuluan, landasan teori, perancangan sistem, implementasi dan pengujian sistem. Peneliti menyadari sepenuhnya bahwa dalam penulisan tugas akhir ini masih banyak kekurangan dan keterbatasan. Oleh karena itu peneliti mengharapkan saran yang membangun agar tulisan ini bermanfaat bagi perkembangan ilmu pengetahuan ke depan.
Malang, 25 September 2013 Penulis
DAFTAR ISI
ABSTRAK ............................................................................................................. i ABSTRACT ........................................................................................................... ii KATA PENGANTAR ......................................................................................... iv DAFTAR ISI .......................................................................................................... v DAFTAR GAMBAR ........................................................................................... vii DAFTAR TABEL ............................................................................................... viii 1. PENDAHULUAN ............................................................................................. 1 1.1 Latar Belakang ............................................................................................ 1 1.2 Rumusan Masalah ...................................................................................... 2 1.3 Tujuan Penelitian ........................................................................................ 2 1.4 Batasan Masalah.......................................................................................... 2 1.5 Metodologi Penelitian ................................................................................. 3 1.6 Sistematika Penulisan.................................................................................. 4 2. DASAR TEORI ................................................................................................ 5 2.1 Kinect .......................................................................................................... 5 2.2 Sensor Kinect .............................................................................................. 6 2.3 OpenNI ........................................................................................................ 7 2.4 OpenCV....................................................................................................... 8 2.5 Algoritma A* (A Star) ................................................................................ 9 3. ANALISA DAN PERANCANGAN SISTEM ............................................... 14 3.1 Analisa Sistem........................................................................................... 14 3.2 Flowchart................................................................................................... 15 3.3 Use Case Diagram ..................................................................................... 16 3.4 Activity Diagram ....................................................................................... 17 3.5 Sequence Diagram .................................................................................... 18 3.5.1 Sequence Diagram Menggambar Node ............................................. 18 3.5.2 Sequence Diagram Menentukan Node Awal dan Node Akhir .......... 19 3.5.3 Sequence Diagram Melihat Hasil ...................................................... 20 3.6 Desain Interface ........................................................................................ 21 4. IMPLEMENTASI DAN PENGUJIAN ........................................................... 22
4.1 Implementasi Sistem ................................................................................. 22 4.2 Pengujian ................................................................................................... 26 4.3 Uji Coba .................................................................................................... 30 4.3.1 Pengujian program menggunakan kamera RGB pada Kinect ........... 30 4.3.2 Pengujian program menggunakan depth sensor pada Kinect ............ 36 4.3.3 Pengujian program jika terdapat 2 objek yang bergerak bersamaan . 38 5. PENUTUP ....................................................................................................... 41 5.1 Kesimpulan ............................................................................................... 41 5.2 Saran.......................................................................................................... 41 DAFTAR PUSTAKA .......................................................................................... 42 SOURCE CODE .................................................................................................. 41 BIOGRAFI PENULIS ......................................................................................... 50
DAFTAR GAMBAR
Gambar 2.1 Kinect ...................................................................................................5 Gambar 2.2 Device Sensor Kinect ...........................................................................6 Gambar 2.3 Struktur Kerangka Kerja OpenNI ........................................................8 Gambar 2.4 Struktur dan Konten OpenCV ..............................................................9 Gambar 2.5 Graph terhubung 5 node .....................................................................11 Gambar 3.1 Flowchart Aplikasi .............................................................................15 Gambar 3.2 Use Case Diagram Aplikasi ...............................................................16 Gambar 3.3 Activity Diagram Aplikasi Penentuan Lintasan Visual .....................17 Gambar 3.4 Sequence Diagram Menggambar Node..............................................18 Gambar 3.5 Sequence Diagram Menentukan Node Awal dan Node Akhir ..........19 Gambar 3.6 Sequence Diagram Melihat Hasil .......................................................20 Gambar 3.7 Desain Interface Aplikasi ...................................................................21 Gambar 4.1 Tampilan Aplikasi dengan menggunakan depth sensor .....................27 Gambar 4.2 Tampilan Aplikasi dengan menggunakan kamera RGB ....................27 Gambar 4.3 Output Program Setelah di eksekusi (depth sensor)...........................28 Gambar 4.4 Output Program Setelah di eksekusi (RGB) ......................................29 Gambar 4.5 Sample 1 (kamera RGB) ....................................................................30 Gambar 4.6 Tampilan Koordinat Sample 1 ...........................................................30 Gambar 4.7 Sample 2 (depth sensor) .....................................................................36 Gambar 4.8 Tampilan Koordinat Sample 2 ...........................................................36 Gambar 4.9 Pergerakan Dengan 2 Tangan ............................................................38 Gambar 4.10 Node Terbentuk Diantara 2 Objek ...................................................39 Gambar 4.11 Node Terbentuk Di Posisi Yang Sama ............................................39 Gambar 4.12 Tampilan Saat Eksekusi Program < 5 Node.....................................40
DAFTAR TABEL
Tabel 4.1 Seluruh Lintasan dan Jarak Terdekat dan Terjauh Sample 1 ................ 31 Tabel 4.2 Seluruh Lintasan dan Jarak Terdekat dan Terjauh Sample 2 ................ 37
Daftar Pustaka
[1]
Susanto, Dwi. 2013. Cara Kerja Kinect. http://kangtanto.com/technology/cara-kerja-kinect. 18 maret 2013 jam 14.00.
[2]
Daria Nitescu. 2012. Evaluation Of Pointing Strategies For Microsoft Kinect Sensor Device. University of Ben, University of Neuchatel, University of Fribourg.
[3]
Budiman, Rendi, Imam K, dan Dwi S. 2012. “Integrasi Kinect dan Unreal Development Kit Menggunakan Kerangka Kerja OpenNI Pada Studi Kasus Game Berbasis Interaksi Gerakan”. Institut Teknologi Sepuluh November.
[4]
Sundar, Anandram dan Adarsh Kowdle. 2011. 3D Interactive Interface Using a Kinect Sensor. Cornell University
[5]
Priawadi, Ozi. 2011. OpenCV. http://priawadi.blogspot.com/2012/09/opencv.html. 21 maret 2013 jam 16.45 (4)
[6]
Suyanto. 2011. Artificial Intelligence. Penerbit Informatika : Bandung.
[7]
Davison, Andrew. 2011. Kinect Chapter 12 Motion Detection Using OpenCV.
