| 基于农田景物边缘的农业机器人自定位方法 |
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| 引用本文： | 沈明霞,姬长英,张瑞合.基于农田景物边缘的农业机器人自定位方法[J].农业机械学报,2001,32(6):49-51. |
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| 作者姓名： | 沈明霞 姬长英 张瑞合 |
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| 作者单位： | 南京农业大学工程学院, |
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| 摘 要： | 自主行走农业机器人自定位技术是导航系统的关键技术，本文通过对机器人的近景成像几何建模，提出了利用虚点提取和检测实现从图像到场景现实空间的三维计算，并确定机器人与路径的相对位置、方向，从而获得了自定位信息的方法。实验证明了该方法的正确性。
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| 关 键 词： | 机器人视觉 定位系统 农田 景物边缘 农业机器人 定位法 |
| 修稿时间： | 2001年2月9日 |
Self-location of an Agricultural Robot Based on Cropland Edges |
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| Shen Mingxia,Ji Changying,Zhang Ruihe.Self-location of an Agricultural Robot Based on Cropland Edges[J].Transactions of the Chinese Society of Agricultural Machinery,2001,32(6):49-51. |
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| Authors: | Shen Mingxia Ji Changying Zhang Ruihe |
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| Institution: | Nanjing Agricultural University |
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| Abstract: | Vision location is a main function of the vision system of an agricultural robot. To fully complete some agricultural tasks in field,an agricultural robot has to be guided along a cropland edge. A method of the agricultural robot vision location was put forward. The method is based on extraction of the scene structure from perspective information that is a set of coplanar parallel lines representing the cropland edges. To predict future course with the information in the visual domain, the image geometry of the agricultural robot model was constructed. A vanishing point detection algorithm was performed to bring out the point where all lines that define the crop join based on the vanishing point computation. The attitude angle and offset from the desired line were identified using three dimensional perspective view transformation. The results show that the detection of the cropland edges is efficient, and the calculated robot position toward the desired line is in good agreement with the actual one. |
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| Keywords: | Marginal information Robot visual Locate systems |
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