| 农林环境机器视觉导航路径生成算法及应 |
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| 引用本文： | 杨庆华,吴佳艺,鲍官军,高峰.农林环境机器视觉导航路径生成算法及应[J].农业机械学报,2009,40(3):147-151. |
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| 作者姓名： | 杨庆华 吴佳艺 鲍官军 高峰 |
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| 作者单位： | 浙江工业大学机械制造及自动化教育部重点实验室,杭州,310032 |
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| 基金项目： | 国家高技术研究发展计划(863计划)，浙江省重中之重学科开放基金 |
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| 摘 要： | 提出两种自然环境中的路径导航线生成算法:对于矮小作物规则分布的农田场景,在标准Hough变换的基础上,预先检测共线点峰值的限定偏角阈值,以迅速检测关键信息;对于林地环境及类林地环境的高大作物农田场景,寻找树干与地面的交点,形成机器人行走的左右边界,再求两边交点的中值产生一列点簇.对该列点簇进行Hough变换检测直线作为导航线,或应用最小二乘法拟合左右边界,求其中线作为路径导航线.Matlab对比仿真表明,几种算法对各自适用的场景具有可靠稳定的路径辨识能力,可对图像进行有效的批量处理.
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| 关 键 词： | 路径导航 农林环境 机器视觉 Hough变换 最小二乘拟合 |
of Path Guidance Line Based on Computer Vision and Their Applications in Agriculture and Forestry Environment |
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| Yang Qinghua,Wu Jiayi,Bao Guanjun,Gao Feng.of Path Guidance Line Based on Computer Vision and Their Applications in Agriculture and Forestry Environment[J].Transactions of the Chinese Society of Agricultural Machinery,2009,40(3):147-151. |
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| Authors: | Yang Qinghua Wu Jiayi Bao Guanjun Gao Feng |
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| Institution: | The MOE Key Laboratory of Mechanical Manufacture and Automation;Zhejiang University of Technology;Hangzhou 310032;China |
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| Abstract: | Two advanced algorithms of generating path guidance line are proposed: the Hough transform-based is to pre-limit the angular value of possible collinear points before peak detection.This enables swift key-info abstraction in orderly-planted fields while offsetting imperfections brought by previous image segmentation,the solution to generate guidance line in forestry environments and locate points of trunk-and-earth intersection,then a dot array in the middle of the two point series is obtained.Then two meth... |
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| Keywords: | Path guidance Agricultural and forestry environment Computer vision Hough transform Least square-fitting |
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