Position Estimation Method for Agricultural Field Road
This paper introduces an artificial landmark position estimation method using omnidirectional vision for agricultural vehicles field road navigation. This system is built with an omnidirectional vision sensor, two landmarks, PC and image processor. We proposed the algorithm extracted landmark candidate in the image, and estimated the directional angle between landmarks and the distance between landmark and omnidirectional vision sensor. Based on the directional angle and the distance, the algorithm estimated the absolute position of the sensor relative to the landmark-based coordinate system on the ground. Experimental results show that the RMS distance error is about 15 cm on a 20 m distance experiment. We conclude that the proposed selflocalization method is feasible and effective for agricultural vehicles field road navigation.
navigation omnidirectional vision field road vehicle landmark
M. Li Zh.H. Liu J.A. Huang S. H. Dai W.Weng K. Imou
College of Engineering National Research Center of Engineering Technology for Functional Ingredients National Research Center of Engineering Technology for Functional Ingredients from Botanicals Educat College of Horticulture and Gardening Hunan Agricultural University Changsha, PRC. College of Engineering Graduate School of Agricultural and Life Sciences The University of Tokyo Tokyo, Japan
国际会议
山东淄博
英文
126-129
2011-05-27(万方平台首次上网日期,不代表论文的发表时间)