冯娟,刘刚,司永胜,王圣伟,何蓓,任雯.果园视觉导航基准线生成算法[J].农业机械学报,2012,43(7):185-189,184.
Feng Juan,Liu Gang,Si Yongsheng,Wang Shengwei,He Bei,Ren Wen.Algorithm Based on Image Processing Technology to Generate Navigation Directrix in Orchard[J].Transactions of the Chinese Society for Agricultural Machinery,2012,43(7):185-189,184.
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果园视觉导航基准线生成算法   [下载全文]
Algorithm Based on Image Processing Technology to Generate Navigation Directrix in Orchard   [Download Pdf][in English]
  
DOI:10.6041/j.issn.1000-1298.2012.07.034
中文关键词:  果园  导航  基准线  图像处理  水平投影法
基金项目:国家自然科学基金资助项目(31071333);保定市科学技术研究与发展计划资助项目
作者单位
冯娟 中国农业大学
河北农业大学 
刘刚 中国农业大学 
司永胜 河北农业大学 
王圣伟 中国农业大学 
何蓓 中国农业大学 
任雯 中国农业大学 
中文摘要:针对果园导航环境的复杂性,提出了一种基于图像处理的果园导航基准线生成算法。采用二维Otsu算法获取最优分割阈值,对色差R—B分量图进行二值化处理;根据水平投影曲线的一阶导数变化规律,提取树的主干区域(ROI);根据区域中邻近像素灰度值的变化规律,提取主干与地面的交点作为特征点;根据点的分布特性对其进行归类,并利用最小二乘法拟合左右边界线,提取边界线上各行中心点生成果园导航基准线。在不同场景中的实验结果表明,该算法对噪声的干扰有较强的鲁棒性,使导航基准线的生成准确率高于90.7%;处理一幅640×480像素的图像平均耗时小于119ms,具有较好的实时性。
Feng Juan  Liu Gang  Si Yongsheng  Wang Shengwei  He Bei  Ren Wen
China Agricultural University;Agricultural University of Hebei;China Agricultural University;Agricultural University of Hebei;China Agricultural University;China Agricultural University;China Agricultural University
Key Words:Orchard  Navigation  Directrix  Image processing  Horizontal projection method
Abstract:An algorithm based on image processing technology was proposed for generating navigation directrix in orchard of complex circumstance. Image of R—B component was binarized by 2-D maximum between-cluster variance. A region of interest was detected by horizontal projection method to extract tree trunks. Crossing points between tree and ground were obtained by scanning the trunks and classified into different clusters in terms of their neighboring relation. Least square method was used for detecting two border lines, center points of crossing points between two border lines were extracted to generate navigation directrix for agricultural robot. The experimental results under various scene conditions showed that the algorithm could generate navigation directrix accurately, the accuracy was more than 90.7% which showed a good noise robust;the average processing time of a 640×480 pixels image was less than 119ms and met the need of real-time.

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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