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

针对果园中农业移动机器人的自主导航问题,提出了一种基于图像边界提取的自主导航系统。首先,通过摄像机采集果园场景图像,并利用均值偏移算法对图像中的像素点进行聚类;然后,采用基于图论的图像分割算法,根据预定义类别对图像进行分割;接着,提取出所需类的图像区域,并利用Canny算子对该区域图像的边缘进行检测和滤波;最后,利用Hough变换提取出该区域的边界线,从而获得机器人的行进路线。实验结果表明:该方案在不需要先验知识的情况下,能够快速、有效地获得最优路径。

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.