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果園視覺(jué)導(dǎo)航基準(zhǔn)線生成算法
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國(guó)家自然科學(xué)基金資助項(xiàng)目(31071333);保定市科學(xué)技術(shù)研究與發(fā)展計(jì)劃資助項(xiàng)目


Algorithm Based on Image Processing Technology to Generate Navigation Directrix in Orchard
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    摘要:

    針對(duì)果園導(dǎo)航環(huán)境的復(fù)雜性,提出了一種基于圖像處理的果園導(dǎo)航基準(zhǔn)線生成算法,。采用二維Otsu算法獲取最優(yōu)分割閾值,,對(duì)色差R—B分量圖進(jìn)行二值化處理,;根據(jù)水平投影曲線的一階導(dǎo)數(shù)變化規(guī)律,,提取樹(shù)的主干區(qū)域(ROI),;根據(jù)區(qū)域中鄰近像素灰度值的變化規(guī)律,,提取主干與地面的交點(diǎn)作為特征點(diǎn),;根據(jù)點(diǎn)的分布特性對(duì)其進(jìn)行歸類(lèi),并利用最小二乘法擬合左右邊界線,,提取邊界線上各行中心點(diǎn)生成果園導(dǎo)航基準(zhǔn)線,。在不同場(chǎng)景中的實(shí)驗(yàn)結(jié)果表明,該算法對(duì)噪聲的干擾有較強(qiáng)的魯棒性,,使導(dǎo)航基準(zhǔn)線的生成準(zhǔn)確率高于90.7%,;處理一幅640×480像素的圖像平均耗時(shí)小于119ms,具有較好的實(shí)時(shí)性,。

    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.

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馮娟,劉剛,司永勝,王圣偉,何蓓,任雯.果園視覺(jué)導(dǎo)航基準(zhǔn)線生成算法[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),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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  • 在線發(fā)布日期: 2012-07-02
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