Extraction of navigation line based on improved grayscale factor in corn field
Autor(a) principal: | |
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Data de Publicação: | 2020 |
Outros Autores: | , , , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Ciência Rural |
Texto Completo: | http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-84782020000500351 |
Resumo: | ABSTRACT: Focusing on the problem that corn plant in different growth periods is grayed out by known methods, the gray scale difference of different part is large or the soil discrimination degree is not high, the navigation path is low in accuracy and speed. This paper proposed a new method for extracting cornfield navigation baselines, which is used to control walking of agricultural robots. Design method included image segmentation, navigation point extraction, and navigation path fitting. Image segmentation is based on a new grayscale factor combined with median filtering, OSTU method and morphological operations to achieve the separation of crops and soil. The extraction of the navigation point is based on the binary image vertical projection map to obtain the region of interest, and the navigation point coordinates are determined by calculating the relative center point of the white pixel points of the sampling line in the region of interest. The Hough transform is used to fit the navigation point obtained by the vertical projection map to determine the navigation path, and then the control parameters are obtained. The gray scale factor that is improved in this paper combined with the vertical projection map can extract the target ridge with an accuracy rate of 92%, and the accuracy of extracting the navigation line is more than 90%. When conducting navigation tracking experiments in corn field, the maximum error is 5cm. |
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Ciência rural (Online) |
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Extraction of navigation line based on improved grayscale factor in corn fieldagricultural robotsimproved grayscale factornavigation baselinesvertical projectionhough transformABSTRACT: Focusing on the problem that corn plant in different growth periods is grayed out by known methods, the gray scale difference of different part is large or the soil discrimination degree is not high, the navigation path is low in accuracy and speed. This paper proposed a new method for extracting cornfield navigation baselines, which is used to control walking of agricultural robots. Design method included image segmentation, navigation point extraction, and navigation path fitting. Image segmentation is based on a new grayscale factor combined with median filtering, OSTU method and morphological operations to achieve the separation of crops and soil. The extraction of the navigation point is based on the binary image vertical projection map to obtain the region of interest, and the navigation point coordinates are determined by calculating the relative center point of the white pixel points of the sampling line in the region of interest. The Hough transform is used to fit the navigation point obtained by the vertical projection map to determine the navigation path, and then the control parameters are obtained. The gray scale factor that is improved in this paper combined with the vertical projection map can extract the target ridge with an accuracy rate of 92%, and the accuracy of extracting the navigation line is more than 90%. When conducting navigation tracking experiments in corn field, the maximum error is 5cm.Universidade Federal de Santa Maria2020-01-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-84782020000500351Ciência Rural v.50 n.5 2020reponame:Ciência Ruralinstname:Universidade Federal de Santa Maria (UFSM)instacron:UFSM10.1590/0103-8478cr20190699info:eu-repo/semantics/openAccessChen,JiqingQiang,HuXu,GuanwenLiu,XuMo,RongxianHuang,Renzhieng2020-05-06T00:00:00ZRevista |
dc.title.none.fl_str_mv |
Extraction of navigation line based on improved grayscale factor in corn field |
title |
Extraction of navigation line based on improved grayscale factor in corn field |
spellingShingle |
Extraction of navigation line based on improved grayscale factor in corn field Chen,Jiqing agricultural robots improved grayscale factor navigation baselines vertical projection hough transform |
title_short |
Extraction of navigation line based on improved grayscale factor in corn field |
title_full |
Extraction of navigation line based on improved grayscale factor in corn field |
title_fullStr |
Extraction of navigation line based on improved grayscale factor in corn field |
title_full_unstemmed |
Extraction of navigation line based on improved grayscale factor in corn field |
title_sort |
Extraction of navigation line based on improved grayscale factor in corn field |
author |
Chen,Jiqing |
author_facet |
Chen,Jiqing Qiang,Hu Xu,Guanwen Liu,Xu Mo,Rongxian Huang,Renzhi |
author_role |
author |
author2 |
Qiang,Hu Xu,Guanwen Liu,Xu Mo,Rongxian Huang,Renzhi |
author2_role |
author author author author author |
dc.contributor.author.fl_str_mv |
Chen,Jiqing Qiang,Hu Xu,Guanwen Liu,Xu Mo,Rongxian Huang,Renzhi |
dc.subject.por.fl_str_mv |
agricultural robots improved grayscale factor navigation baselines vertical projection hough transform |
topic |
agricultural robots improved grayscale factor navigation baselines vertical projection hough transform |
description |
ABSTRACT: Focusing on the problem that corn plant in different growth periods is grayed out by known methods, the gray scale difference of different part is large or the soil discrimination degree is not high, the navigation path is low in accuracy and speed. This paper proposed a new method for extracting cornfield navigation baselines, which is used to control walking of agricultural robots. Design method included image segmentation, navigation point extraction, and navigation path fitting. Image segmentation is based on a new grayscale factor combined with median filtering, OSTU method and morphological operations to achieve the separation of crops and soil. The extraction of the navigation point is based on the binary image vertical projection map to obtain the region of interest, and the navigation point coordinates are determined by calculating the relative center point of the white pixel points of the sampling line in the region of interest. The Hough transform is used to fit the navigation point obtained by the vertical projection map to determine the navigation path, and then the control parameters are obtained. The gray scale factor that is improved in this paper combined with the vertical projection map can extract the target ridge with an accuracy rate of 92%, and the accuracy of extracting the navigation line is more than 90%. When conducting navigation tracking experiments in corn field, the maximum error is 5cm. |
publishDate |
2020 |
dc.date.none.fl_str_mv |
2020-01-01 |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-84782020000500351 |
url |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-84782020000500351 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
10.1590/0103-8478cr20190699 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
text/html |
dc.publisher.none.fl_str_mv |
Universidade Federal de Santa Maria |
publisher.none.fl_str_mv |
Universidade Federal de Santa Maria |
dc.source.none.fl_str_mv |
Ciência Rural v.50 n.5 2020 reponame:Ciência Rural instname:Universidade Federal de Santa Maria (UFSM) instacron:UFSM |
instname_str |
Universidade Federal de Santa Maria (UFSM) |
instacron_str |
UFSM |
institution |
UFSM |
reponame_str |
Ciência Rural |
collection |
Ciência Rural |
repository.name.fl_str_mv |
|
repository.mail.fl_str_mv |
|
_version_ |
1749140554745118720 |