| 温室农用机器人的路径检测 |
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| 引用本文： | 李娟娟,邱白晶,王天波.温室农用机器人的路径检测[J].农机化研究,2011,33(3). |
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| 作者姓名： | 李娟娟 邱白晶 王天波 |
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| 作者单位： | 江苏大学现代农业装备与技术省部共建教育部重点实验室,江苏镇江,212013 |
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| 基金项目： | 国家自然科学基金项目，国家高技术研究发展计划项目，江苏省自然科学基金项目 |
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| 摘 要： | 为实现温室中基于单目视觉的机器人自适应导航,运用Susan算子点检测的方法,融合Hough变换,提出了温室环境中的路径导航线的生成算法,并将标准Susan算子改造成适应与Hough变换的二值化形式.通过对温室中113幅图像进行实验检测可知,采用此方法可有效地检测机器人导航路径,且路径检测的识别率为94%,平均导航角为0.192 2°.
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| 关 键 词： | 温室 Susan算子 Hough变换 路径检测 |
Path Detecting of Agricultural Robot in Greenhouse |
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| Li Juanjuan,Qiu Baijing,Wang Tianbo.Path Detecting of Agricultural Robot in Greenhouse[J].Journal of Agricultural Mechanization Research,2011,33(3). |
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| Authors: | Li Juanjuan Qiu Baijing Wang Tianbo |
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| Institution: | Li Juanjuan,Qiu Baijing,Wang Tianbo(Key Laboratory of Modern Agricultural Equipment and Technology,Ministry of Education & Jiangsu Province,Jiangsu University,Zhenjiang 212013,China) |
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| Abstract: | Point detecting of Susan operator were combined into Hough transformation in order to realize self-adoptive navigation for robot in greenhouse,this method was used for detecting navigation line in greenhouse.Standard Susan operator was modified into brinarization to subsequent Hough transformation.113 images in greenhouse were tested.The result of experiments show this method can detect the navigation line effectively,and the recognition rate of path detecting is 94%,average navigation angle is 0.192 2 degr... |
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| Keywords: | greenhouse susan operator hough transformation path detecting |
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