农业工程学报2005，Vol.21Issue(9)：103-109,7.
农业机器人导航中两类纹理边缘的快速跟踪与透视变换
Fast boundary tracking and projective transformation of cut-uncut surfaces for agricultural robot navigation
摘要
Abstract
Active vision on application of agricultural field, especially with the boundary tracking of cut-uncut crop surfaces with similar colors, is quite a challenge. Two novel methods were proposed for its fast segmentation in order to navigate agricultural robot. The key to efficiency is based on a narrow band extraction of multi-scale features from regions of interest (ROI) and the multi-cues enhancement of pixel-rows. The former is related to the weighted mean of k-level extreme values of pixels. The latter is related to the feature enhancement of neighborhood rows and multi-evidence fuzzy recognition. The two approaches are nearly unsupervised and their guidance line is able to be adaptive to a changing environment.A real-time method of projective transformation (with less than 1 ms of parameter processing) and an auto-calibration method for camera's main pose (with the time cost less than 0. 5 s) were presented. Software for analyzing the cut-uncut lawn was developed. Experimental results were promising, in which correct segmentation was achieved within 55ms at 160× 120 resolutions with an average error below 5% for normal sequence, and the online boundary tracking of cut-uncut lawns was done autonomously at the speed of 8～9 frame per second (FPS) under 160× 120 resolutions, based on a tradeoff combination of the multi-rows Best Fit Step (MR-BFS) and the multi-evidence fuzzy enhancement from pixel-rows. If the color distances between sides of tracking boundary are relatively larger, the present method of color components operation plus bit-mask may be a good choice for multi-boundary tracking in the field, with full segmentation done within 20～30 ms for color sequence of 320× 240 resolutions. All the technique can be further used in real-time control over agricultural robot navigation without the involvement of human.关键词
自主式导航/边缘跟踪/自然环境/纹理分割/透视变换Key words
self-aid navigation/boundary tracking/natural environments/texture segmentation/projective transformation分类
信息技术与安全科学引用本文复制引用
周平,汪亚明,赵匀..农业机器人导航中两类纹理边缘的快速跟踪与透视变换[J].农业工程学报,2005,21(9):103-109,7.基金项目
Zhejiang Provincial Natural Science Foundation of China with grants 601019 and RC02064 support this project （）
