农业机械学报2013，Vol.44Issue(7)：210-215,6.DOI:10.6041/j.issn.1000-1298.2013.07.037
基于立体视觉的智能农业车辆实时运动检测
Real-time Motion Detection for Intelligent Agricultural Vehicle Based on Stereo Vision
摘要
Abstract
A real-time motion detection method based on stereo vision was designed in order to meet the need of precise navigation for intelligent agricultural vehicle.Multi-thread feature points detection was used to improve the efficiency of traditional SIFT algorithm.Normalized comprehensive distance algorithm (NCDA) was used to delete the error matched points.Finally,vehicle motion was calculated by the position variation of feature points in adjacent moment.Experiments showed that the average detection time spent was reduced and computing efficiency was raised up.Error matched points were successfully recognized and erased by NCDA.Measurement errors in one time were less than 0.004 5 m in x-and z-axis when the speed was 0.8 m/s and image grabbing frequency was 5 Hz.Measurement errors in x-and z-axis were less than 0.15 m when the vehicle kept moving for 10 s.关键词
智能农业车辆/导航/立体视觉/运动检测/特征点检测Key words
Intelligent agricultural vehicle /Navigation/Stereo vision/Motion detection/Feature points detection分类
农业科技引用本文复制引用
田光兆,安秋,姬长英,顾宝兴,王海青,赵建东..基于立体视觉的智能农业车辆实时运动检测[J].农业机械学报,2013,44(7):210-215,6.基金项目
国家高技术研究发展计划(863计划)资助项目(2006AA10Z259)、中央高校基本科研业务费资助项目(KYZ201006)和南京农业大学青年科技创新基金资助项目(KJ09030) （863计划）
