ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

Aiming at the limitations of the current agricultural machinery automatic driving headland turning method based on global navigation satellite system technology, a binocular vision-based identification and ranging method of farmland ridge boundary was proposed, and the feasibility, applicability and constraints of the specific method were analyzed. In view of the farmland environment with large illumination changes and many repeated textures, Census transform and truncated gradient were integrated to calculate the cost of stereo matching, and cross-scale cost merging algorithm based on segment-tree was used in the cost aggregation step, which can quickly get a good parallax diagram. After constructing a three-dimensional point cloud from a parallax diagram, in view of the actual situation of uneven farmland ground and uneven crop growth height, the adaptive threshold point cloud extraction and interference elimination were carried out, so as to realize the recognition of field ridge boundary. In addition, according to the farmland information, the calculated average boundary distance was corrected. The experimental results showed that this algorithm can realize the boundary distance detection of the early working farmland, and the recognition rate of the algorithm can reach 99% for the ridge of 5~10m in front of the field of view. The ranging accuracy was increased with the decrease of the detection distance, and the ranging error at 5m was about 0.075m. On NVIDIA Jetson TX2 hardware platform, the running time of the algorithm was about 0.8s, which can meet the real-time requirements of the operation for the agricultural machinery with a driving speed less than 1.5m/s.