CAJ | 학술논문

完成沿作物行的行走作业是农业机器人视觉导航系统的一个基础功能,但是由于田间环境的复杂性,比如阴影的存在和天气的恶劣变化等外界因素的影响使导航参数的提取变得困难.该研究针对农业机器人视觉导航中存在的阴影干扰问题,采用基于光照无关图的方法去除导航图像中的阴影,然后采用增强的最大类间方差法进行图像分割和优化的Hough变换提取作物行中心线,最终通过坐标转换获得导航参数.最后,通过作物行跟踪试验表明,基于光照无关图的阴影去除方法不仅满足了导航实时性的要求,而且使农业机器人在光照变化的情况下导航参数提取的鲁棒性有了更大的提高.
완성연작물행적행주작업시농업궤기인시각도항계통적일개기출공능,단시유우전간배경적복잡성,비여음영적존재화천기적악렬변화등외계인소적영향사도항삼수적제취변득곤난.해연구침대농업궤기인시각도항중존재적음영간우문제,채용기우광조무관도적방법거제도항도상중적음영,연후채용증강적최대류간방차법진행도상분할화우화적Hough변환제취작물행중심선,최종통과좌표전환획득도항삼수.최후,통과작물행근종시험표명,기우광조무관도적음영거제방법불부만족료도항실시성적요구,이차사농업궤기인재광조변화적정황하도항삼수제취적로봉성유료경대적제고.
Operation along crop row is a basic function of vision navigation for agricultural robot. The complex external factors of working environment in the field, such as existed shadow and weather change etc., make the navigation parameters extracting become more difficult. Aiming at shadow influence problem in vision navigation process of agricultural robot, illumination invariant image based on shadow removal algorithm was introduced. An enhanced OSTU image segmentation method was used, and an optimized Hough transformation algorithm was used to extract crop line, and coordinate transform was applied to obtain navigation parameters. Finally, tests of following crop row showed that shadow removal method based on illumination invariant image satisfied real-time requirement of system and improved the robustness of extracting navigation parameters under variable daylight illuminants.