农机化研究2017，Vol.39Issue(8)：202-206,5.
基于图像边界提取的果园作业机器人自主导航系统
Autonomous Navigation System for Orchard Working Robot Based on Image Boundary Extraction
摘要
Abstract
For the issue that the autonomous navigation of agricultural mobile robots in the orchard , An autonomous navi-gation system based on image boundary extraction is proposed .Firstly, the scene images of the orchard were collected by the camera , and the pixels in the image were clustered by mean shift algorithm .Then , the image segmentation algorithm based on graph theory is used to segment the image according to the predefined categories .After that , the image area of the desired class is extracted , and the edge of the region image is detected and filtered by the Canny operator .Finally , Hough transform is used to extract the boundary line of the region , so as to obtain the robot's travel route .Experimental results show that the proposed scheme can obtain the optimal route quickly and efficiently without need of prior knowledge .关键词
果园机器人/自主导航/图像分割/图像边界提取/Hough 变换Key words
orchard robot/autonomous navigation/image partitioning/image boundary extraction/hough transform分类
农业科技引用本文复制引用
叶小琴,陈超..基于图像边界提取的果园作业机器人自主导航系统[J].农机化研究,2017,39(8):202-206,5.基金项目
四川省科技厅计划项目 （）
