Corn Row Navigation Line Extraction Method Based on the Adaptive Edge Detection Algorithm

Abstract

Aiming at the problems of long detection time and large detection error when agricultural machinery extracts corn row navigation lines, a method of corn row navigation line extraction based on the adaptive edge detection algorithm is proposed. First, the improved super-green feature algorithm and the maximum inter-class variance method are used to automatically obtain the green feature binary image, and the morphological processing is used to improve the image quality, determining dynamic regions of interest by constraining pixel thresholds, extraction of corn edge contour using adaptive edge detection algorithm, finally, the feature points are fitted by the Theil-Sen estimation method. Experimental results show: the super-green feature algorithm reflects the green content in the image more realistically, using the adaptive edge detection algorithm to extract corn row features, the accuracy rate is 94%, and the processing time of a single frame image is 104ms. Compared with the Hough algorithm extraction and the vertical projection algorithm, the navigation line extraction accuracy is increased by 15% and 8% respectively, and the time-consuming is reduced by 258ms and 150ms respectively. In addition, the stability of the algorithm is analyzed in different environments, all with good timeliness.