DocumentCode :
2838005
Title :
Walking Goal Line Detection Based on Machine Vision on Harvesting Robot
Author :
Wu, Gang ; Tan, Yu ; Zheng, Yongjun ; Wang, Shumao
Author_Institution :
Coll. of Eng., China Agric. Univ., Beijing, China
fYear :
2011
fDate :
17-18 July 2011
Firstpage :
1
Lastpage :
4
Abstract :
As to aided driving by harvesting robot, an algorithm is hereby proposed for walking goal line detection on improved Hough transform (HT) on harvesting robot. A camera is to be fitted on the left top of the combine harvester in order to capture images of farmland scenes in the process of harvesting. The target locations of walking goal line as well as the optimal points in the straight-line direction are to be determined according to different color features of harvested areas, non-harvested areas and areas without farmlands respectively, by virtue of statistic analysis, morphology and digital sieve. The optimal points are selected as the point set, and wherein Improved HT based on a determined point is applied to complete line detection, which is in comparison with the traditional algorithm of HT, saves large storage space and long time computation. Through processing various pictures the algorithm is well proved with respect to its speed, anti-interference and accuracy.
Keywords :
Hough transforms; agricultural engineering; industrial robots; mobile robots; object detection; robot vision; statistical analysis; Hough transform; camera; farmland scenes; harvesting robot; machine vision; pictures processing; statistic analysis; straight line direction; walking goal line detection; Agricultural machinery; Arrays; Legged locomotion; Machine vision; Radio navigation; Transforms;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Circuits, Communications and System (PACCS), 2011 Third Pacific-Asia Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4577-0855-8
Type :
conf
DOI :
10.1109/PACCS.2011.5990262
Filename :
5990262
Link To Document :
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