| 基于知识的视觉导航农业机器人行走路径识别 |
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| 引用本文： | 周俊,姬长英.基于知识的视觉导航农业机器人行走路径识别[J].农业工程学报,2003,19(6):101-105. |
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| 作者姓名： | 周俊 姬长英 |
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| 作者单位： | 1. 上海交通大学机电控制研究所,上海,200030
2. 南京农业大学工学院,南京,210031 |
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| 基金项目： | 教育部科学技术重点研究项目(项目编号：03091) |
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| 摘 要： | 目前的农业生产方式引起了环境污染、生态恶化等诸多问题，研制具有精确作业能力的视觉导航农业机器人因而被较多关注。针对导航视觉系统采集的农田非结构化自然环境彩色图像，探讨了用于行走路径识别的适宜的彩色特征，并结合农田作业时农业机器人行走路径的特点，运用路径知识启发机制识别出行走路径。与传统的阈值分割算法的对比处理试验表明，此识别算法可以明显地改善路径识别效果。
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| 关 键 词： | 路径识别 视觉导航 农业机器人 机器视觉 |
| 文章编号： | 1002-6819(2003)06-0101-05 |
| 收稿时间： | 2002/9/24 0:00:00 |
| 修稿时间： | 2002年9月24日 |
Road recognition for agricultural robot guided by machine vision |
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| Zhou Jun and Ji Changying.Road recognition for agricultural robot guided by machine vision[J].Transactions of the Chinese Society of Agricultural Engineering,2003,19(6):101-105. |
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| Authors: | Zhou Jun and Ji Changying |
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| Abstract: | At present, the problem of environmental pollution and ecological deterioration raised by agricultural production is increasingly serious, so the development of the agricultural robot guided by machine vision is widely considered to be necessary which has the potential of precision farming and being friendly with natural environment. In this paper, an algorithm of road recognition is introduced, which is a key technology for the visual guidance in the non-structured agriculture environment. At first, the suitable segmentation feature of the color picture of natural field environments is discussed. Based on the road knowledge and the feedback idea, then a new edge following method is developed to recognize the road. Finally, compared with the conventional method of threshold segmentation, the result of the treatment of actual field pictures shows that this algorithm is more effective for the road recognition. |
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| Keywords: | road recognition vision guidance agricultural robot machine vision |
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