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Visual Odometry System for Agricultural Field Robots
University of Skövde, School of Technology and Society.
Halmstad University.
2008 (English)In: World Congress on Engineering and Computer Science 2008, IAENG , 2008, 619-624 p.Conference paper, (Refereed)
Abstract [en]

 In this paper we present a visual odometry system for agricultural field robots that is not sensitive to uneven terrain. A stereo camera system is mounted perpendicular to the ground and height and traveled distance are calculated using normalized cross correlation. A method for evaluating the system is developed, where flower boxes containing representative surfaces are placed in a metal-working lathe. The cameras are mounted on the carriage which can be positioned manually with 0.1 mm accuracy. Images are captured every 10 mm over 700 mm. The tests are performed on eight different surfaces representing real world situations. The resulting error is less than 0.6% of traveled distance on surfaces where the maximum height variation is measured to 96 mm. The variance is measured for eight test runs, total 5.6 m, to 0.040 mm. This accuracy is sufficient for crop-scale agricultural operations.

 

 

Place, publisher, year, edition, pages
IAENG , 2008. 619-624 p.
Series
Lecture Notes in Engineering and Computer Science, ISSN 2078-0958
Keyword [en]
Agricultural applications, Image processing, Mobile robot localization, Visual odometry
Identifiers
URN: urn:nbn:se:his:diva-2410ISI: 000263417100117ISBN: 978-988-98671-0-2 OAI: oai:DiVA.org:his-2410DiVA: diva2:127164
Conference
World Congress on Engineering and Computer Science (WCECS 2008) Location: San Francisco, CA Date: OCT 11-24, 2008
Available from: 2008-12-05 Created: 2008-12-02 Last updated: 2013-03-15

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Citation style
  • apa
  • harvard1
  • ieee
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  • vancouver
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More styles
Language
  • de-DE
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  • en-US
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  • nn-NO
  • nn-NB
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  • Other locale
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Output format
  • html
  • text
  • asciidoc
  • rtf