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A vision-guided mobile robot for precision agriculture
Högskolan i Skövde, Institutionen för teknik och samhälle.
Halmstad University.
2009 (engelsk)Inngår i: Proceedings of 7th European Conference on Precision Agriculture / [ed] Eldert J. van Henten, D. Goense and C. Lokhorst, Wageningen Academic Publishers, 2009, s. 623-630Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this paper we have developed a mobile robot which is able to perform crop-scale operations using vision as only sensor. The system consists of a row-following system and a visual odometry system. The row following system captures images from a front looking camera on the robot and the crop rows are extracted using Hough transform. Both distance to the rows and heading angle is provided which both are used to control the steering. The visual odometry system uses two cameras in a stereo setup pointing perpendicular to the ground. This system measures the travelled distance by measuring the ground movement and compensate for height variation. Experiments are performed on an artificial field due to the season. The result shows that the visual odometry have accuracy better than 2.1% of travelled distance.

sted, utgiver, år, opplag, sider
Wageningen Academic Publishers, 2009. s. 623-630
Emneord [en]
visual odometry, row following
HSV kategori
Forskningsprogram
Teknik
Identifikatorer
URN: urn:nbn:se:his:diva-3427Scopus ID: 2-s2.0-84893371202ISBN: 978-90-8686-113-2 (tryckt)ISBN: 978-90-8686-664-9 (digital)OAI: oai:DiVA.org:his-3427DiVA, id: diva2:272391
Konferanse
Precision agriculture '09 : papers presented at the 7th European Conference on Precision Agriculture, Wageningen, the Netherlands, 6 - 8 June 2009
Tilgjengelig fra: 2009-10-15 Laget: 2009-10-15 Sist oppdatert: 2017-11-27bibliografisk kontrollert
Inngår i avhandling
1. Vision-Based Perception for Localization of Autonomous Agricultural Robots
Åpne denne publikasjonen i ny fane eller vindu >>Vision-Based Perception for Localization of Autonomous Agricultural Robots
2017 (engelsk)Doktoravhandling, med artikler (Annet vitenskapelig)
Abstract [en]

In this thesis Stefan investigates how cameras can be used for localization of an agricultural mobile robot. He focuses on relative measurement that can be used to determine where a weeding tool is operating relative a weed detection sensor. It incorporates downward-facing perspective cameras, forward-facing perspective cameras and omnidirectional cameras. Stefan shows how the camera’s ego-motion can be estimated to obtain not only the position in 3D but also the orientation. He also shows how line structures in the field can be used to navigate a robot along the rows.

sted, utgiver, år, opplag, sider
Skövde: University of Skövde, 2017. s. 164
Serie
Dissertation Series ; 16 (2017)
HSV kategori
Forskningsprogram
Produktion och automatiseringsteknik; INF201 Virtual Production Development
Identifikatorer
urn:nbn:se:his:diva-13408 (URN)978-91-982690-7-9 (ISBN)
Opponent
Veileder
Tilgjengelig fra: 2017-02-28 Laget: 2017-02-28 Sist oppdatert: 2019-01-24bibliografisk kontrollert

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