{"title":"A vision-based road detection system for the navigation of an agricultural autonomous tractor","authors":"Sristi SAHA, Tsuyoshi MORITA, Noboru NOGUCHI","doi":"10.37221/eaef.16.2_43","DOIUrl":null,"url":null,"abstract":"Autonomous tractors can operate in open fields by using the RTK-GNSS (Real-time Kinematic-Global Navigation Satellite System). However, RTK-GNSS signal might not be available at all geographical locations, which could make autonomous driving unsafe. To avoid such situations, we sought to develop a vision-based agricultural road detection system that does not rely on RTK-GNSS. It takes the RGB images obtained from an HD onboard camera, removes camera distortion, filters the images, detects the road edges, and calculates the lateral error. Experimental runs showed that the lateral error was less than 0.2 m for unpaved roads and 0.4 m for paved roads. This shows that the system can detect agricultural roads and thus can be used in place of RTK-GNSS.","PeriodicalId":38965,"journal":{"name":"Engineering in Agriculture, Environment and Food","volume":"119 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Engineering in Agriculture, Environment and Food","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.37221/eaef.16.2_43","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"Engineering","Score":null,"Total":0}
引用次数: 0
Abstract
Autonomous tractors can operate in open fields by using the RTK-GNSS (Real-time Kinematic-Global Navigation Satellite System). However, RTK-GNSS signal might not be available at all geographical locations, which could make autonomous driving unsafe. To avoid such situations, we sought to develop a vision-based agricultural road detection system that does not rely on RTK-GNSS. It takes the RGB images obtained from an HD onboard camera, removes camera distortion, filters the images, detects the road edges, and calculates the lateral error. Experimental runs showed that the lateral error was less than 0.2 m for unpaved roads and 0.4 m for paved roads. This shows that the system can detect agricultural roads and thus can be used in place of RTK-GNSS.
期刊介绍：
Engineering in Agriculture, Environment and Food (EAEF) is devoted to the advancement and dissemination of scientific and technical knowledge concerning agricultural machinery, tillage, terramechanics, precision farming, agricultural instrumentation, sensors, bio-robotics, systems automation, processing of agricultural products and foods, quality evaluation and food safety, waste treatment and management, environmental control, energy utilization agricultural systems engineering, bio-informatics, computer simulation, computational mechanics, farm work systems and mechanized cropping. It is an international English E-journal published and distributed by the Asian Agricultural and Biological Engineering Association (AABEA). Authors should submit the manuscript file written by MS Word through a web site. The manuscript must be approved by the author''s organization prior to submission if required. Contact the societies which you belong to, if you have any question on manuscript submission or on the Journal EAEF.
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