农用AGV视觉导航中基准线提取算法的研究

目的]寻找用于农用AGV视觉导航曲线基准线的提取算法。方法]针对农用AGV视觉导航基准线假定为直线而容易受作物残留物等因素的影响,引入了曲线导航基准线的提取算法。结果]曲线导航基准线的提取算法为首先分割图像,将作物等植被和土壤等背景分离,然后在分割图像中以每行最大空隙的中点为标志点,逐行检查标志点,调整偏移较大的标志点,若与前一行标志点位移大于T,则缩小位移为t,最后连接标志点。曲线基准线提取算法更注重基准线的偏向与行进方向的一致性。结论]在较多残留物和作物行缺乏规则的情况下,曲线基准线的大部分点都落在行进方向上,并总体向右倾斜,基本上反映了农用AGV的行进路线,提高了农用AGV导航精度。

Research on the Extraction Agorithm of Datum Line in Agricultural AGV Visual Navigation

Objective] The purpose of the study was to look for the extraction algorithm of datum line in agricultural AVG visual navigation curve.Method] According to the deduction of assuming the navigation datum line of agricultural AVG visual navigation as a straight line which was easy to be influenced by factors such crop residues,the extraction algorithm of datum line of curve navigation was introduced.Result] The extraction algorithm of datum line of curve navigation was dividing up the image at first,isolating vegetations such as crop from backgrounds such as soil;then with the midpoint of maximum interspace in each row in divided image as marking point,the marking points were examined row by row and that with bigger excursion were rectified.If the excursion between the marking point and that in previous row was bigger than T,it was reduced to be t.The marking points were connected finally.The extraction algorithm of curve datum line paid more attention to the consistency between the deviation and marching direction of datum line.Conclusion] Under the condition of more residues and crop rows being lack of regularity,most points of curve datum line fell in the marching direction,and leaned to right collectively,basically reflecting the marching routine of agricultural AVG and enhancing navigation precision of agricultural AVG.