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A vision-guided mobile robot for precision agriculture
School of Technology and Society, University of Skövde, Sweden.
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS).
2009 (English)In: Precision agriculture '09: Papers presented at the 7th European conference on precision agriculture, Wageningen, The Netherlands, 6-8 July 2009 / [ed] E. J. van Henten; D. Goense; C. Lokhorst, Wageningen: Wageningen Academic Publishers, 2009, p. 623-630Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we have developed a mobile robot which is able to perform crop-scale operations using vision as only sensor. The system consists of a row-following system and a visual odometry system. The row following system captures images from a front looking camera on the robot and the crop rows are extracted using Hough transform. Both distance to the rows and heading angle is provided which both are used to control the steering. The visual odometry system uses two cameras in a stereo setup pointing perpendicular to the ground. This system measures the travelled distance by measuring the ground movement and compensate for height variation. Experiments are performed on an artificial field due to the season. The result shows that the visual odometry have accuracy 1.3% of travelled distance.

Place, publisher, year, edition, pages
Wageningen: Wageningen Academic Publishers, 2009. p. 623-630
Keywords [en]
visual odometry, row following
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:hh:diva-3670ISBN: 978-90-8686-113-2 OAI: oai:DiVA.org:hh-3670DiVA, id: diva2:284808
Conference
7th European Conference on Precision Agriculture, Wageningen, The Netherlands, 6-8 July, 2009
Available from: 2010-01-08 Created: 2010-01-08 Last updated: 2018-03-23Bibliographically approved

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Åstrand, Björn

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CiteExportLink to record
Permanent link

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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