【摘 要】
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An efficient method of vision navigation path recognition based on affine transformation for rape direct seeding machine is proposed.At first, two local windows are selected from upper and lower two p
【机 构】
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College of Engineering, Huazhong Agricultural University, Wuhan, 430070, China
【出 处】
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The Sixth Asian Conference on Precision Agriculture (第六届亚洲精准
论文部分内容阅读
An efficient method of vision navigation path recognition based on affine transformation for rape direct seeding machine is proposed.At first, two local windows are selected from upper and lower two parts of the image, and the two points named A, B are chose from the windows by the means of vertical projection.Then transformation scale and direction of affine transformation is calculated by the slope of straight line AB.Affine transformation of the image is carried out in the range of the transformation scale.At the same time, the differential matrix Rd is computed through differential operation of the column means for the rectangular region of the affine image.At the last,the parameter of navigation path can be got from the extreme value of Rd.In order to improve the timeliness and accuracy, the three measures to be used: setting appropriate ROI, utilizing linear reducing, using the former frame information.Those measures make one frame processing time in 50ms.A large number of road and field experiments show: line fitting accuracy of the algorithm is above 95%, it has the advantage of high robustness and meets the requirements of navigation.
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