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A vision-guided mobile robot for precision agriculture
University of Skövde, School of Technology and Society.
Halmstad University.
2009 (English)In: Proceedings of 7th European Conference on Precision Agriculture / [ed] Eldert J. van Henten, D. Goense and C. Lokhorst, Wageningen Academic Publishers, 2009, 623-630 p.Conference paper, (Refereed)
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.

Place, publisher, year, edition, pages
Wageningen Academic Publishers, 2009. 623-630 p.
Keyword [en]
visual odometry, row following
National Category
Engineering and Technology
Research subject
Technology
Identifiers
URN: urn:nbn:se:his:diva-3427Scopus ID: 2-s2.0-84893371202ISBN: 978-90-8686-113-2 (print)ISBN: 978-90-8686-664-9 (electronic)OAI: oai:DiVA.org:his-3427DiVA: diva2:272391
Conference
Precision agriculture '09 : papers presented at the 7th European Conference on Precision Agriculture, Wageningen, the Netherlands, 6 - 8 June 2009
Available from: 2009-10-15 Created: 2009-10-15 Last updated: 2017-03-13Bibliographically approved
In thesis
1. Vision-Based Perception for Localization of Autonomous Agricultural Robots
Open this publication in new window or tab >>Vision-Based Perception for Localization of Autonomous Agricultural Robots
2017 (English)Doctoral thesis, comprehensive summary (Other academic)
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.

Place, publisher, year, edition, pages
Skövde: University of Skövde, 2017. 164 p.
Series
Dissertation Series, 16 (2017)
National Category
Robotics
Identifiers
urn:nbn:se:his:diva-13408 (URN)978-91-982690-7-9 (ISBN)
Opponent
Supervisors
Available from: 2017-02-28 Created: 2017-02-28 Last updated: 2017-03-06Bibliographically approved

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Citation style
  • apa
  • harvard1
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More styles
Language
  • de-DE
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  • Other locale
More languages
Output format
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