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Traffic is one of the most important aspects in human daily life because traffic affects smoothness of capital flows, logistics, and other community activities. Without appropriate traffic light control system, possibility of traffic congestion will be very high and hinder peopleâ€™s life in urban areas. Adaptive traffic light control system can be used to solve traffic congestions in an intersection because it can adaptively change the durations of green light each lane in an intersection depend on traffic density. The proposed adaptive traffic light control system prototype uses Beagleboard-xM, CCTV camera, and AVR microcontrollers. We use computer vision technique to obtain information on traffic density combining Viola-Jones method with Kalman Filter method. To calculate traffic light time of each traffic light in intersection, we use Distributed Constraint Satisfaction Problem (DCSP). From implementations and experiments results, we conclude that BeagleBoard-xM can be used as main engine of adaptive traffic light control system with 91.735% average counting rate.  Lalu intas adalah salah satu aspek yang paling penting dalam kehidupan sehari-hari manusia karena lalu lintas memengaruhi kelancaran arus modal, logistik, dan kegiatan masyarakat lainnya. Tanpa sistem kontrol lampu lalu lintas yang memadai, kemungkinan kemacetan lalu lintas akan sangat tinggi dan menghambat kehidupan masyarakat di perkotaan. Sistem kontrol lampu lalu lintas adaptif dapat digunakan untuk memecahkan kemacetan lalu lintas di persimpangan karena dapat mengubah durasi lampu hijau di setiap persimpangan jalan tergantung pada kepadatan lalu lintas. Prototipe sistem kontrol lampu lalu lintas menggunakan BeagleBoard-XM, kamera CCTV, dan mikrokontroler AVR. Peneliti menggunakan teknik computer vision untuk mendapatkan informasi tentang kepadatan lalu lintas dengan menggabungkan metode Viola-Jones dan metode Filter Kalman. Untuk menghitung waktu setiap lampu lalu lintas di persimpangan, peneliti menggunakan Distributed Constraint Satisfaction Problem (DCSP). Dari hasil implementasi dan percobaan dapat disimpulkan bahwa BeagleBoard-XM dapat digunakan sebagai mesin utama sistem kontrol lampu lalu lintas adaptif dengan tingkat akurasi penghitungan rata-rata sebesar 91.735%.

BEAGLEBOARD EMBEDDED SYSTEM FOR ADAPTIVE TRAFFIC LIGHT CONTROL SYSTEM WITH CAMERA SENSOR