25 October 2004 A moment-based ridge detection approach for agricultural robot using stereovision
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Abstract
It is necessary to perceive and avoid collision with obstacles, such as ridges, for an agricultural robot. In this paper we regarded weeds as the prominent feature of the ridge and used stereovision to infer their depth. The mixed moments and mixed central moments were used to characterize the weeds in two disparity images, and the Bayes’ rule was applied to segment the weeds from background. The weeds were matched based on their approximate contours. Then the disparity was the difference between the two centers of the contours, which were extracted using the method of Cartesian moments. Since the contour of weed was random, it showed that stereovision could be applied for agricultural robot to detect complex obstacles.
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Fangming Zhang, Yibin Ying, "A moment-based ridge detection approach for agricultural robot using stereovision", Proc. SPIE 5608, Intelligent Robots and Computer Vision XXII: Algorithms, Techniques, and Active Vision, (25 October 2004); doi: 10.1117/12.571146; https://doi.org/10.1117/12.571146
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