Auto Recognition of Navigation Path for Harvest Robot Based on Machine Vision
An algorithm of generating navigation path in orchard for harvesting robot based on machine vision was presented. According to the features of or-chard images, a horizontal projection method was adopted to dynamically rec-ognize the main trunks area. Border crossing points between the tree and the earth were detected by scanning the trunks areas, and these points were divided into two clusters on both sides. Resorting to least-square fitting, two border lines were extracted. The central clusters were gained by the two lines and this straight line was regarded as the navigation path.Matlab simulation result shows that the algorithm could effectively extract navigation path in complex orchard environment, and correct recognition rate was 91.7％. The method is proved to be stable and reliable, and with the deviation rate of simulation navigation angle compared with the artificial recognition angle is around 2％.
Navigation path Machine vision Orchard environment Image segmentation Least square-fitting
Bei He Gang Liu Ying Ji Yongsheng Si Rui Gao
Key laboratory of Modem Precision Agriculture System Integration Research,Ministry of Education, Chi Key laboratory of Modem Precision Agriculture System Integration Research,Ministry of Education, Chi Key laboratory of Modem Precision Agriculture System Integration Research,Ministry of Education, Chi
国际会议
南昌
英文
138-148
2010-10-22（万方平台首次上网日期，不代表论文的发表时间）