一种用于农业自动拖拉机导航的基于视觉的道路检测系统

Q2 Engineering Engineering in Agriculture, Environment and Food Pub Date : 2023-01-01 DOI:10.37221/eaef.16.2_43

Sristi SAHA, Tsuyoshi MORITA, Noboru NOGUCHI

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引用次数: 0

摘要

自动驾驶拖拉机可以使用RTK-GNSS(实时运动-全球导航卫星系统)在开阔的田野上操作。然而，RTK-GNSS信号可能不会在所有地理位置都可用，这可能会使自动驾驶变得不安全。为了避免这种情况，我们试图开发一种不依赖于RTK-GNSS的基于视觉的农业道路检测系统。它采用从高清车载摄像头获得的RGB图像，去除相机失真，过滤图像，检测道路边缘，并计算横向误差。试验结果表明，未铺装路面的横向误差小于0.2 m，铺装路面的横向误差小于0.4 m。这表明该系统可以检测农业道路，因此可以代替RTK-GNSS使用。

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A vision-based road detection system for the navigation of an agricultural autonomous tractor

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.

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来源期刊

Engineering in Agriculture, Environment and Food Engineering-Industrial and Manufacturing Engineering

CiteScore

1.00

自引率

0.00%

发文量

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.