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12 October 2006 Stereovision-based vegetable row recognition algorithm for agricultural vehicles
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Proceedings Volume 6382, Two- and Three-Dimensional Methods for Inspection and Metrology IV; 63820O (2006) https://doi.org/10.1117/12.686013
Event: Optics East 2006, 2006, Boston, Massachusetts, United States
Abstract
It is a new field for applying stereovision into guidance system. The objective was to find out a better correlation method and develop an algorithm for detecting vegetable rows for field robot. Several Area correlation methods were compared for obtaining disparities, such as sum of absolute differences and Mahalanobis Distance. A method to eliminate error matched results was also studied, which was comparing of minimum extremum and the second minimum extremum. The 3D data of fields were calculated based on the disparity images and they were matched with a trapezium model to detect vegetable rows. It shows that stereovision could obtain the landforms of fields, especially that of vegetable rows. In future, a real time tilt angle sensor might be added for more reliable 3D data.
© (2006) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Fangming Zhang, Tong Sun, and Yibin Ying "Stereovision-based vegetable row recognition algorithm for agricultural vehicles", Proc. SPIE 6382, Two- and Three-Dimensional Methods for Inspection and Metrology IV, 63820O (12 October 2006); https://doi.org/10.1117/12.686013
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