| 农用车辆作业环境障碍物检测方 |
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| 引用本文： | 丁幼春,王书茂,陈红. 农用车辆作业环境障碍物检测方[J]. 农业机械学报, 2009, 40(Z1): 23-27 |
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| 作者姓名： | 丁幼春 王书茂 陈红 |
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| 作者单位： | 1. 华中农业大学工程技术学院,武汉,430070
2. 中国农业大学工学院,北京,100083 |
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| 基金项目： | 十一五国家科技支撑计划资助项目 |
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| 摘 要： | 针对联合收获机视觉导航系统中的视觉测障,提出了一种基于单目彩色图像分割测障与立体视觉特征匹配测障相结合的测障方法:利用H、S颜色分量对单目图像实施固定阈值分割并二值化,获得潜在障碍物的位置及区域;采用尺度空间不变(SIFT)算法获取潜在障碍物区域特征;采用近似最近邻分类算法(ANN)进行快速特征匹配,获得潜在障碍物的世界坐标,由此进一步确认障碍物以及障碍物与车辆之间的距离.提出了提高算法效率的措施,分析了图像压缩比与运行时间、SIFT特征数以及匹配数之间的关系.试验表明,在有障碍物的情况下,检测时间不超过200ms.
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| 关 键 词： | 农用车辆 颜色分割 特征匹配 障碍物检测 |
Detection in the Working Area of Agricultural Vehicle Based on Machine Vision |
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| Ding Youchun Wang Shumao Chen Hong. Detection in the Working Area of Agricultural Vehicle Based on Machine Vision[J]. Transactions of the Chinese Society for Agricultural Machinery, 2009, 40(Z1): 23-27 |
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| Authors: | Ding Youchun Wang Shumao Chen Hong |
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| Affiliation: | 1.Engineering and Technology Department;Huazhong Agricultural University;Wuhan 430070;China2.College of Engineering;China Agricultural University;Beijing 100083;China |
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| Abstract: | Obstacle detection is a key component of autonomous systems.A obstacle detection method combined monocular vision and stereo vision is studied for the vision navigated combine harvester.For monocular vision detection,H and S components are used to segment the image acquired by the left camera mounted on the combine harvester,and then through the fixed threshold value and binary processing the potential obstacle area is located.For stereo vision,the SIFT features are extracted from the potential obstacle are... |
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| Keywords: | Agricultural vehicle Color segmentation Feature matching Obstacle detection |
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