摘要
目前的农业生产方式引起了环境污染、生态恶化等诸多问题 ,研制具有精确作业能力的视觉导航农业机器人因而被较多关注。针对导航视觉系统采集的农田非结构化自然环境彩色图像 ,探讨了用于行走路径识别的适宜的彩色特征 ,并结合农田作业时农业机器人行走路径的特点 ,运用路径知识启发机制识别出行走路径。与传统的阈值分割算法的对比处理试验表明 ,此识别算法可以明显地改善路径识别效果。
At present, the problem of environmental pollution and ecological deterioration raised by agricultural production is increasingly serious, so the development of the agricultural robot guided by machine vision is widely considered to be necessary which has the potential of precision farming and being friendly with natural environment. In this paper, an algorithm of road recognition is introduced, which is a key technology for the visual guidance in the non-structured agriculture environment. At first, the suitable segmentation feature of the color picture of natural field environments is discussed. Based on the road knowledge and the feedback idea, then a new edge following method is developed to recognize the road. Finally, compared with the conventional method of threshold segmentation, the result of the treatment of actual field pictures shows that this algorithm is more effective for the road recognition.
出处
《农业工程学报》
EI
CAS
CSCD
北大核心
2003年第6期101-105,共5页
Transactions of the Chinese Society of Agricultural Engineering
基金
教育部科学技术重点研究项目 (项目编号 :0 30 91 )
关键词
路径识别
视觉导航
农业机器人
机器视觉
road recognition
vision guidance
agricultural robot
machine vision
