發(fā)布時(shí)間：2018-03-25 00:00

  本文選題：圖像處理　切入點(diǎn)：農(nóng)業(yè)導(dǎo)航　出處：《農(nóng)機(jī)化研究》2017年01期

【摘要】：以茶作物為對(duì)象,提出了一種基于視覺(jué)的作物行間行走路徑規(guī)劃方法。對(duì)實(shí)時(shí)彩色作物圖像用2G-RB算法灰度化,分離作物和背景,通過(guò)固定閾值二值化圖像,采用形態(tài)運(yùn)算去除干擾。以區(qū)域內(nèi)作物的比例變化為判別壟間壟頭依據(jù)。對(duì)于壟間,利用漫水填充算法分離出壟溝,通過(guò)最小二乘法擬合導(dǎo)航線,得到壟間行走時(shí)候的導(dǎo)航控制參數(shù);對(duì)于壟頭,先分離出轉(zhuǎn)彎一側(cè)的作物,采用圓形模型擬合壟頭處輪廓,通過(guò)擬合的圓來(lái)規(guī)劃出轉(zhuǎn)彎時(shí)候路徑。試驗(yàn)結(jié)果表明:該算法能準(zhǔn)確提取導(dǎo)航線,處理一幀圖像約為150ms左右,可滿足導(dǎo)航的要求。
[Abstract]:A vision-based path planning method for crop interline walking is proposed in this paper. The real-time color crop image is grayscale by 2G-RB algorithm, which separates crop from background, and binds the image by fixed threshold. Morphological operation is used to remove interference. The variation of crop proportion in the region is taken as the basis for distinguishing ridges between ridges. For ridges, the furrows are separated by overflowing water filling algorithm, and the navigation lines are fitted by the least square method. The navigation control parameters are obtained when the ridges are walking. For the ridge head, the crop on the turning side is separated first, and the contour of the ridge head is fitted with a circular model. The experimental results show that the algorithm can accurately extract the navigation line and process a frame of image about 150ms, which can meet the requirements of navigation.
【作者單位】： 湖北工業(yè)大學(xué)農(nóng)業(yè)機(jī)械工程研究設(shè)計(jì)院;
【基金】：國(guó)家自然科學(xué)基金項(xiàng)目(51174084) 武漢市科技局科技攻關(guān)項(xiàng)目(2015020202010129)
【分類號(hào)】：S22;TP391.41

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