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Visual Odometry System for Agricultural Field Robots
Högskolan i Skövde, Institutionen för teknik och samhälle, Incitament nivå 3.
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS).
2008 (English)In: Proceedings of the World Congress on Engineering and Computer Science 2008, WCECS 2008, October 22 - 24, 2008, San Francisco, USA / [ed] S. I. Ao, Craig Douglas, W. S. Grundfest, Lee Schruben and Jon Burgstone, Hong Kong: International Association of Engineers, 2008, p. 619-624Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we present a visual odometry system for agricultural field robots that is not sensitive to uneven terrain. A stereo camera system is mounted perpendicular to the ground and height and traveled distance are calculated using normalized cross correlation. A method for evaluating the system is developed, where flower boxes containing representative surfaces are placed in a metal-working lathe. The cameras are mounted on the carriage which can be positioned manually with 0.1 mm accuracy. Images are captured every 10 mm over 700 mm. The tests are performed on eight different surfaces representing real world situations. The resulting error is less than 0.6% of traveled distance on surfaces where the maximum height variation is measured to 96 mm. The variance is measured for eight test runs, total 5.6 m, to 0.040 mm. This accuracy is sufficient for crop-scale agricultural operations.

Place, publisher, year, edition, pages
Hong Kong: International Association of Engineers, 2008. p. 619-624
Series
Lecture Notes in Engineering and Computer Science, ISSN 2078-0958
Keywords [en]
Agricultural applications, Image processing, Mobile robot localization, Visual odometry
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:hh:diva-2297ISI: 000263417100117Local ID: 2082/2699ISBN: 978-988-98671-0-2 OAI: oai:DiVA.org:hh-2297DiVA, id: diva2:239515
Conference
World Congress on Engineering and Computer Science, October 22 - 24, 2008, San Francisco, USA
Available from: 2009-02-16 Created: 2009-02-16 Last updated: 2018-03-23Bibliographically approved

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Åstrand, Björn

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf