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

Rayi Yanu Tara, Teguh Bharata Adji


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.


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

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