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Vision-based Navigation Route Recognition for Agricultural Wheeled Mobile Robot

Author: ZhangWeiHua
Tutor: ChenJun
School: Northwest University of Science and Technology
Course: Agricultural Electrification and Automation
Keywords: Visual navigation Image preprocessing Edge split Hough transform Pinhole Imaging
CLC: TP242.62
Type: Master's thesis
Year: 2009
Downloads: 65
Quote: 0
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Abstract


With the computer image processing technology matures, the visual navigation will become an important development direction of agricultural wheeled mobile robot autonomous navigation. This study is a key part of the agricultural wheeled mobile robot visual navigation system - navigation path identification and vehicle navigation parameter extraction is an important vehicle autonomous navigation module, there is great significance to the development and promotion of the visual navigation technology. Agricultural wheeled mobile robot in a real-time operations, navigation path generally linear approximation In this paper, the structure of the road, navigation path of the middle line of the road as a vehicle to identify and extract the navigation parameters of the bodywork, the main contents and conclusions as follows: (1) color CCD camera image pre-processing, with an emphasis on the image threshold segmentation method. The experiment proved iterative segmentation and Ostu Segmentation can produce better binarized image. (2) in the domestic and foreign scholars on the basis of in-depth study of the image edge detection. The edge detection algorithm based the template convolution operation Robets, Prewitt, Sobel, Laplacian, the experimental results show that the use of the Laplacian algorithm clearly meet the requirements of real-time detection of the edges of the road. (3) study of a fast and efficient linear information detection method to identify agricultural wheeled mobile robot navigation path. Analyzes the characteristics of the projection of the straight path on the ground in the image space, and by improving the Hough transform line detection algorithm, while access to tracking the path of the agricultural wheeled mobile robot directly extract the vehicle's navigation parameters - lateral deviation and localizer deviation; experimental results show the transverse deviation and heading deviation of the average error were 2.6 (cm), -0.47 (deg). (4) the completion of the calibration of the CCD camera with pinhole imaging model. Establish a relationship equations, the corresponding coordinate points in the robot coordinate system and the computer image coordinate system to the camera is derived by solving the various internal and external parameters. (5) Foton Euro Leopard 4040 tractor as agricultural wheeled mobile robot experimental prototype using a CCD camera acquisition vehicle road image (color bitmap) image processing source code written in VC 6.0. The experiments show that the tractor in low speed, image processing source code developed in this paper to meet the real-time requirements, the processing speed of 2.1Hz average per second of the two 640 × 480 (pixels) color bitmap.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots > Robot Vision
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