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Navigation Line Extraction Method

An extraction method and navigation line technology, which is applied in the field of image processing, can solve the problems of algorithm instability and poor real-time extraction of navigation lines, etc., and achieve the effect of improving extraction speed and reliability, and good real-time performance

Inactive Publication Date: 2015-08-12
CHINA AGRI UNIV
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Problems solved by technology

[0007] The purpose of the present invention is to provide a method for quickly extracting navigation lines to solve the problems of poor real-time extraction of navigation lines and unstable algorithms

Method used

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Embodiment Construction

[0027] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0028] In the embodiment of the present invention, an image of corn is chosen as an example, but the present invention is not limited to corn, and may also be various other crops. The cornfield navigation line extraction method provided in this embodiment is mainly aimed at realizing the rapid extraction of cornfield navigation lines under natural conditions.

[0029] figure 1 It is a flowchart of a navigation line extraction method according to an embodiment of the present invention, the method includes steps:

[0030] S1. Collect crop images, make a row of crops in the image in the middle of the image, and ensure that a certain range of crops in this row (for example, ...

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Abstract

The invention provides a leading line extracting method. The leading line extracting method includes the steps of S1, acquiring a crop image to allow a certain row of crops in the image to be located in the middle of the image, and according to the acquired image, allowing the row of crops to be located in the image in a certain range; S2, acquiring a binary image after the image is divided; S3, acquiring a feature point image according to the binary image; S4, performing least squares fit to part of the feature point image to obtain a primary fit straight line; S5, according to the primary fit straight line, generating two parallel straight lines forming an elongated area, and calculating the number of feature points in the elongated area; and S6, regulating the elongated area in certain area and calculating the number of feature points in the adjusted elongated area, wherein a straight line corresponding to the elongated area with maximum feature points is a required leading line. By the use of the leading line extracting method, speed and reliability of extracting the leading line can be increased well, and the leading line extracting method has the advantages that the method is simple, reliable, well real-time and the like.

Description

technical field [0001] The invention belongs to the technical field of image processing, in particular to a navigation line extraction method. Background technique [0002] In recent years, highly automated agricultural machinery and more intelligent agricultural robots have developed rapidly, and their navigation components have been a research hotspot due to their key role and technical difficulty. Navigation components are divided into GPS navigation, inertial navigation and Machine vision navigation and other methods, the latter has been widely used with the rapid development of electronic technology due to its advantages of wide signal detection range and complete information. [0003] The use of machine vision for autonomous navigation of automated agricultural machinery or agricultural robots began in the early 1980s when relatively inexpensive and reliable CCD image sensors began to appear. With the continuous progress of related technologies such as computers and m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/46G06T7/00
Inventor 刘刚张漫司永胜孟庆宽高冠东姜海勇
Owner CHINA AGRI UNIV
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