农业机械学报2012，Vol.43Issue(12)：181-186,6.DOI:10.6041/j.issn.1000-1298.2012.12.033
全方位视觉定位系统标识方位角研究
Landmark Direction Angle for Omnidirectional Vision Localization System
摘要
Abstract
The position accuracy is mainly decided by the accuracy of landmark directional angle for the localization system of agricultural machinery based on omnidirectional vision sensor. The algorithms about low pass filter eliminating noise and artificial landmark features detection was studied. After eliminating noise, the red pixels' intensity was calculated and the red landmark pixels beyond the threshold were extracted. Based on the Euclid geometrical distance of neighbor pixels, the small area of pixels was divided and the center of gravity was calculated for the extracted small area representing the candidate of one landmark. The algorithm provided the blue patch as compensation to further distinguish the landmark from other objects in a complex environment. The landmark detection test proved that the low pass filter eliminating noise was effective. Pointing, straightaway driving and tilt tests were conducted on the level ground in a 30 m × 30 m area outside. Results showed that the average values of MAE and RMSE of landmark direction angles were 1. 12° and 2. 10°, and the influence of vehicle vibration and tilt angle less than 5° were not obvious. The positioning accuracy was about 10 cm. The proposed algorithm is feasible, the error of landmark direction angle is less and the program is fast running speed and robustness.关键词
全方位视觉/人工标识/图像处理/方位角Key words
Omnidirectional vision sensor/ Artificial landmark/ Image processing/ Direction angle分类
农业科技引用本文复制引用
李明,芋生憲司,刘仲华,莫亚武,吴彬..全方位视觉定位系统标识方位角研究[J].农业机械学报,2012,43(12):181-186,6.基金项目
教育部留学归国人员科研启动基金资助项目(教外司留[2011]1139号)、湖南省自然科学基金资助项目(11JJ6024)、湖南省优秀青年基金资助项目(10B047)和湖南省科研条件创新专项资助项目(2012TT2045) （教外司留[2011]1139号）
