曹倩,王库,杨永辉,史小磊.基于TMS320DM642的农业机器人视觉导航路径检[J].农业机械学报,2009,40(7):171-175.
.the Navigation Route Based on TMS320DM642 for Agriculture Visual Robot[J].Transactions of the Chinese Society for Agricultural Machinery,2009,40(7):171-175.
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基于TMS320DM642的农业机器人视觉导航路径检   [下载全文]
the Navigation Route Based on TMS320DM642 for Agriculture Visual Robot   [Download Pdf][in English]
  
DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  机器人  自定位  视觉导航  农业环境  数字信号处理
基金项目:
曹倩  王库  杨永辉  史小磊
中国农业大学
中文摘要:在农田非结构化自然环境下,通过机器视觉提取导航线的处理算法,利用透视投影变换得到摄像机相对于导航路径的偏移距离和偏移角,成功地在TMS320DM642系统上得到实现,并对程序进行了基于C语言的代码优化。试验结果表明,偏移角的最大误差为2°,横向偏移距离最大误差为
Key Words:
Abstract:5cm。In the farmland non-structurization natural environment, navigation route’s extraction algorithm was studied based on machine vision. The distance and angle between camera and navigation route was gained by the perspective projection. The algorithm was successfully transplanted to TMS320DM642 hardware platform, and optimized on a C programming language level. In the examination, it shows that the biggest error of deviation angle between camera and navigation route is 2° and the biggest deviation distance between camera and navigation route is 5cm.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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