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Visual navigation based multi-crop row detection method

A detection method and visual navigation technology, which are applied in the field of multi-crop row detection of visual navigation, can solve problems such as difficulty in meeting the actual requirements of convergence, reduce time complexity and space complexity, and improve real-time and accuracy. real-time effects

Inactive Publication Date: 2010-06-23
CHINA AGRI UNIV
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Problems solved by technology

But its convergence is still difficult to meet the actual requirements

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  • Visual navigation based multi-crop row detection method
  • Visual navigation based multi-crop row detection method

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Embodiment 1

[0054] This embodiment specifically describes a visual navigation multi-crop row detection method proposed by the present invention. The detection method is applied to an agricultural operation machine operating on a multi-crop row, and the operation machine is provided with a camera.

[0055] Such as figure 1 Shown, described detection method comprises the steps:

[0056] Step 1: Calibrate the internal parameters and / or external parameters of the camera on the agricultural machine, collect video and image frames, and perform distortion correction on the captured image in combination with the calibration parameters of the camera;

[0057] Among them, the internal parameters of the linear model include: (u 0 , v 0 ) is the pixel coordinate of the optical center on the computer image; α x , α y is the effective focal length; γ is the u, v-axis non-vertical factor, generally 0; the internal parameters of the nonlinear model also include the distortion parameter k 1 , k 2 ,p...

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Abstract

The invention relates to a visual navigation based multi-crop row detection method, which belongs to the related field of machine vision navigation and image processing, and aims to quickly and accurately extract a plurality of ridge lines in farmland and meet the requirements of the real-time navigation and positioning of agricultural machinery. The invention provides an agricultural machine vision navigation based multi-crop row detection method, which comprises the steps: calibrating camera parameters, acquiring video and image frames, and carrying out distortion correction for the image; dividing a crop ridge line area, extracting navigation positioning points by using the vertical projection method, and calculating the world coordinates of the positioning points; using the random straight line detection method to calculate the positioning points, and detecting the straight lines on which crop ridge rows are positioned; and obtaining the position of each crop ridge row in a world coordinate system relative to the agricultural operation machinery by calculation according to the slope parameters and intercept parameters of the straight lines. Compared with the traditional technology, the technical scheme of the invention greatly reduces time complexity and space complexity, and also improves the accuracy and the real-time of navigation.

Description

technical field [0001] The invention belongs to the fields related to machine vision navigation and image processing. In particular, the invention relates to a visual navigation multi-crop row detection method. Background technique [0002] As an important branch of precision agriculture, the intelligent navigation and positioning technology of farmland operation machinery is attracting more and more attention, among which visual navigation has gradually become one of the key research directions in recent years. Due to the unstructured characteristics of the farmland environment, it is required that the agricultural machine vision navigation system must have high robustness when recognizing the row structure in the field, and must output correct recognition results within a set time. In response to this requirement, the technology of using Hough transform to extract navigation parameters from multi-ridge images with less noise such as weeds was proposed earlier in foreign c...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/00G01C11/36G01C21/00G06T7/00
Inventor 杜尚丰陈娇姜国权张漫
Owner CHINA AGRI UNIV
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