农用AGV视觉导航中基准线提取算法的研究.pdfVIP

安徽农业科学，Journal ofAnhui Agi．Sci．2007。35{36)：11729，11915 责任编辑 孙红忠 责任校对 李洪 农用AGV视觉导航中基准线提取算法的研究 胡波 ，于国英2，张．艳诚。(1．广西工学院电子信息与控制工程系，广西柳州5450O6；2．河北机电职业技术学院，河北邢台 ；3．云 南农业大学工程技术学院，云南昆明650201) 摘要 [目的]寻找用于农用AGV视觉导航曲线基准线的提取算法。[方法]针对农用AGV视觉导航基准线假定为直线而容易受作物残 留物等因素的影响，引入了曲线导航基准线的提取算法。[结果]曲线导航基准线的提取算法为首先分割图像，将作物等植被和土壤等 背景分离，然后在分割图像中以每行最大空隙的中点为标志点，逐行检查标志点，调整偏移较大的标志点，若与前一行标志点位移大于 ， 则缩小位移为t，最后连接标志点。曲线基准线提取算法更注重基准线的偏向与行进方向的一致性。[结论]在较多残留物和作物行 缺乏规则的情况下，曲线基准线的大部分点都落在行进方向上，并总体向右倾斜，基本上反映了农用AGV的行进路线，提高了衣用AGV 导航精度。 关键词 农用AGV；视觉导航；基准线；曲线 中图分类号 $232．3 文献标识码 A 文章编号 晒17—6611(21307)36—11729—01 Resem-dl OntheExtractionAgorithm 0fI~amnLineinAgriculturalAGVVisual 咂 删 B0 et al (Department of Electronic InformationControl Engineering，GlIar】 University of Technology，Liuzhou，Guangxi 545006) Al】sI瑚d lObjectivej 111e purpose of the stay was to look f0r the extraction algorithm of datum line in agricultural A、 visual navigation curve． [Method]A~ording to the deduction of assuming the navigation datum line ofagricultural AVG visual navigation aS a straight line which was easy to be influenced factors such crop residues， extraction,ago~thm ofdatumline of calve navigationwasintroduced．[Result] extraction algorithm ofda— tunlline of curve navigationwas dividing uptheimage atfirst．isolating vegetations such as cropfrom backgro~such as soil；then withthemidpoint of rnaxinmminterspacein each rowin dividedimage asm~kmgpoint，themⅢl【iI pointswere examined rowbyroW andthatwithbiggerexcursionwere recti— fled．If出e excursionbetweenthem耻 point andthatin previousrowwas blss~rthanT，itwas reducedtobe t．The n1arkiI pointswere connectedfmal— ly．111eextraction of curvedatumline l／lOre attentiontothe consistencybetweenthe deviation and direction ofdatumline．[Conclu— sionI Underthecondition oflnore residues and crop rows beiI lackof regularity，most pointsof curve datumlinefellinthemarching direction，andleaned to d曲t collectively，basica