何 洁,孟庆宽,张 漫,仇瑞承,项 明,杜尚丰.基于边缘检测与扫描滤波的农机导航基准线提取方法[J].农业机械学报,2014,45(S1):265-270.
He Jie,Meng Qingkuan,Zhang Man,Qiu Ruicheng,Xiang Ming,Du Shangfeng.Crop Baseline Extraction Method for Off-road Vehicle Based on Boundary Detection and Scan-filter[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(S1):265-270.
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基于边缘检测与扫描滤波的农机导航基准线提取方法   [下载全文]
Crop Baseline Extraction Method for Off-road Vehicle Based on Boundary Detection and Scan-filter   [Download Pdf][in English]
投稿时间:2014-07-31  
DOI:10.6041/j.issn.1000-1298.2014.S0.043
中文关键词:  农业机械 导航 边缘检测 扫描滤波 基准线
基金项目:国家高技术研究发展计划(863计划)资助项目(2012AA101901)
作者单位
何 洁 中国农业大学 
孟庆宽 中国农业大学 
张 漫 中国农业大学 
仇瑞承 中国农业大学 
项 明 中国农业大学 
杜尚丰 中国农业大学 
中文摘要:为了实时、准确地提取作物行基准线,提出了一种将边缘检测和扫描滤波(Boundary detection and scan filter, BDSF)相结合的基准线提取方法。首先对RGB颜色空间采用G-R颜色特征因子进行图像灰度化,再采用最大类间方差法(OSTU)对灰度图像进行分割,得到二值化图像,获取较好的作物信息。然后分别对图像的底端和顶端部分进行垂直投影,获取作物行的位置,形成一个包含作物行直线的条形框;在这个条形框内,再用等面积的小条形框对图像进行扫描并统计有效点的个数。最后根据扫描的结果来提取导航线。试验结果表明,对比Hough算法和最小二乘法(Least square method, LSM),BDSF算法处理一幅分辨率为640像素×480像素的图像,平均耗时为67ms,与LSM算法耗时相当,精度接近Hough算法;并且在杂草和株数稀缺情况下具有良好的适应性,能够快速准确地提取作物行基准线。
He Jie  Meng Qingkuan  Zhang Man  Qiu Ruicheng  Xiang Ming  Du Shangfeng
China Agricultural University;China Agricultural University;China Agricultural University;China Agricultural University;China Agricultural University;China Agricultural University
Key Words:Agricultural machinery Navigation Boundary detection Scan filter Baseline
Abstract:To accurately detect the baseline of crop row in real time, a navigation line extraction method that combine boundary detection and scan-filter (BDSF) was proposed. Firstly, the binary image that contained the crop row information was obtained correctly after image preprocessing, including gray scale processing which adopted the G-R color feather method, and binary processing which use the OSTU method. Secondly, the position of crop row was calculated by vertical projection of the image top and bottom. Thirdly, numbers of rectangle bars of width equity was used to scan the effective information of image points in the rectangle boxes. Finally, the navigation line was extracted according to the scanning results. The experimental results showed that, the BDSF algorithm could quickly and accurately extract the navigation line. The time consumption for single image of 640 pixels×480 pixels was about 67ms. Compared with Hough transform and LSM algorithm, the designed algorithm had the advantages of high speed and good robustness.

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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