CNN-Based Ball and Goal Detection for KRSBI Robot with Omnidirectional Camera
The Wheeled Soccer Robot Contest (KRSBI-Beroda) challenges robots to autonomously detect, dribble, and score using vision-based systems. Traditional object detection methods like HSV color filtering are widely used but perform poorly under varying lighting conditions. This study proposes a Convoluti...
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| Format: | Article |
| Language: | English |
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Universitas Riau
2025-05-01
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| Series: | International Journal of Electrical, Energy and Power System Engineering |
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| Online Access: | https://ijeepse.id/journal/index.php/ijeepse/article/view/223 |
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| author | T Mohd Farhan Feri Candra |
| author_facet | T Mohd Farhan Feri Candra |
| author_sort | T Mohd Farhan |
| collection | DOAJ |
| description | The Wheeled Soccer Robot Contest (KRSBI-Beroda) challenges robots to autonomously detect, dribble, and score using vision-based systems. Traditional object detection methods like HSV color filtering are widely used but perform poorly under varying lighting conditions. This study proposes a Convolutional Neural Network (CNN)-based object detection system using the YOLO (You Only Look Once) algorithm to enhance the accuracy and reliability of ball and goal detection in KRSBI robots equipped with omnidirectional cameras. A dataset of 1,125 images comprising diverse lighting and object positions was collected and split into 80% training and 20% validation sets. The YOLOv8 model was trained using Ultralytics on Google Colab with 100 epochs. The resulting model achieved a high detection performance, with an accuracy of 95.87%, precision of 1.00 at a confidence threshold of 0.921, recall of 0.99, and an F1-Score of 0.97. The results confirm that the YOLOv8-based CNN model provides a robust and efficient solution for real-time ball and goal detection in robotic soccer applications. |
| format | Article |
| id | doaj-art-daacef1cc1ad41a98a568b610256cc2d |
| institution | DOAJ |
| issn | 2654-4644 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | Universitas Riau |
| record_format | Article |
| series | International Journal of Electrical, Energy and Power System Engineering |
| spelling | doaj-art-daacef1cc1ad41a98a568b610256cc2d2025-08-20T02:43:06ZengUniversitas RiauInternational Journal of Electrical, Energy and Power System Engineering2654-46442025-05-0182869810.31258/ijeepse.8.2.1-13223CNN-Based Ball and Goal Detection for KRSBI Robot with Omnidirectional CameraT Mohd Farhan0Feri Candra1Universitas Riau, Pekanbaru, IndonesiaUniversitas Riau, Pekanbaru, IndonesiaThe Wheeled Soccer Robot Contest (KRSBI-Beroda) challenges robots to autonomously detect, dribble, and score using vision-based systems. Traditional object detection methods like HSV color filtering are widely used but perform poorly under varying lighting conditions. This study proposes a Convolutional Neural Network (CNN)-based object detection system using the YOLO (You Only Look Once) algorithm to enhance the accuracy and reliability of ball and goal detection in KRSBI robots equipped with omnidirectional cameras. A dataset of 1,125 images comprising diverse lighting and object positions was collected and split into 80% training and 20% validation sets. The YOLOv8 model was trained using Ultralytics on Google Colab with 100 epochs. The resulting model achieved a high detection performance, with an accuracy of 95.87%, precision of 1.00 at a confidence threshold of 0.921, recall of 0.99, and an F1-Score of 0.97. The results confirm that the YOLOv8-based CNN model provides a robust and efficient solution for real-time ball and goal detection in robotic soccer applications.https://ijeepse.id/journal/index.php/ijeepse/article/view/223krsbi-beroda, yolo, hsv, ball detection, goalpost detection, omnidirectional camera |
| spellingShingle | T Mohd Farhan Feri Candra CNN-Based Ball and Goal Detection for KRSBI Robot with Omnidirectional Camera International Journal of Electrical, Energy and Power System Engineering krsbi-beroda, yolo, hsv, ball detection, goalpost detection, omnidirectional camera |
| title | CNN-Based Ball and Goal Detection for KRSBI Robot with Omnidirectional Camera |
| title_full | CNN-Based Ball and Goal Detection for KRSBI Robot with Omnidirectional Camera |
| title_fullStr | CNN-Based Ball and Goal Detection for KRSBI Robot with Omnidirectional Camera |
| title_full_unstemmed | CNN-Based Ball and Goal Detection for KRSBI Robot with Omnidirectional Camera |
| title_short | CNN-Based Ball and Goal Detection for KRSBI Robot with Omnidirectional Camera |
| title_sort | cnn based ball and goal detection for krsbi robot with omnidirectional camera |
| topic | krsbi-beroda, yolo, hsv, ball detection, goalpost detection, omnidirectional camera |
| url | https://ijeepse.id/journal/index.php/ijeepse/article/view/223 |
| work_keys_str_mv | AT tmohdfarhan cnnbasedballandgoaldetectionforkrsbirobotwithomnidirectionalcamera AT fericandra cnnbasedballandgoaldetectionforkrsbirobotwithomnidirectionalcamera |