CAJ | 학술논문

　　针对果树空间层次复杂造成直线检测算法失效的问题，提出了运用图像透视原理筛选边界点的方法来提取果树行边界。使用最小二乘法拟合边界直线，计算相邻果树行的中心线作为移动机器人的导航路径。试验结果表明，该算法能够快速准确地提取出果树行中心线，平均每幅图像处理时间小于600ms。
　　침대과수공간층차복잡조성직선검측산법실효적문제，제출료운용도상투시원리사선변계점적방법래제취과수행변계。사용최소이승법의합변계직선，계산상린과수행적중심선작위이동궤기인적도항로경。시험결과표명，해산법능구쾌속준학지제취출과수행중심선，평균매폭도상처리시간소우600ms。
A vision-based algorithm to detect the centerline of fruit tree rows was put forward in this paper .As the com-plicated layers of trees often cause line detection algorithm’ s failure, a method according to the principle of image per-spective was proposed to select road boundary points .Then the least square was adopted to fit these points and the fitted boundary lines were used to calculate the centerline out .The experimental results showed that the algorithm can effectively extract the centerline of fruit tree rows and it took no more than 600 ms for image processing on average .