| 农用车辆视觉导航路径识别方法 |
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| 引用本文： | 赵博,朱忠祥,宋正河,谢斌,毛恩荣.农用车辆视觉导航路径识别方法[J].江苏大学学报(自然科学版),2007,28(6):482-486. |
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| 作者姓名： | 赵博 朱忠祥 宋正河 谢斌 毛恩荣 |
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| 作者单位： | 中国农业大学,工学院,北京,100083 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 为提高农用车辆视觉导航系统对不同环境的适应性,研究了田间地头、天空以及树木等复杂环境对路径识别的影响.提出用一种新的中心线检测算法来取代原有的细化算法;用腐蚀算法代替原有的中值滤波;据此设计了适合复杂环境的路径识别方法.大量的田间试验证明,该方法对普通环境和复杂环境均具有较好的适应性,能够快速、可靠、准确地提取导航路径特征.
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| 关 键 词： | 农用车辆 路径识别 视觉导航 中心线检测 腐蚀算法 农用车辆 视觉导航系统 路径特征 识别方法 vehicle agricultural vision navigation method recognition 提取 快速 普通环境 验证 设计 中值滤波 腐蚀算法 细化算法 检测算法 中心线 影响 |
| 文章编号： | 1671-7775（2007）06-0482-05 |
| 修稿时间： | 2007-07-03 |
Path recognition method for vision navigation of agricultural vehicle |
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| ZHAO Bo,ZHU Zhong-xiang,SONG Zheng-he,XIE Bin,MAO En-rong.Path recognition method for vision navigation of agricultural vehicle[J].Journal of Jiangsu University:Natural Science Edition,2007,28(6):482-486. |
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| Authors: | ZHAO Bo ZHU Zhong-xiang SONG Zheng-he XIE Bin MAO En-rong |
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| Institution: | College of Engineering, China Agricultural University, Beijing 100083, China |
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| Abstract: | In order to improve the adaptability of the vision navigation system to various environments for the agricultural vehicles, the influence of the complicated environment on the path recognition was investigated. A new algorithm of the center line detecting was proposed instead of the traditional thinning algorithm; the erosion algorithm was applied instead of the traditional medium filtering algorithm. A new method for the path recognition under the complicated environments was designed. Large field experimental results prove that the new method is effective on both simple and complicated environments, and can obtain the target navigation path rapidly, reliably and accurately. |
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| Keywords: | agricultural vehicle path recognition vision navigation center line detecting erosion algorithm |
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