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基于機(jī)器視覺(jué)的林間導(dǎo)航路徑生成算
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of Path Navigation Line for Robot in Forestry Environment Based on Machine Vision
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    摘要:

    提出了一種基于機(jī)器視覺(jué)的、適用于林間行走機(jī)器人導(dǎo)航的路徑生成算法，即采用掃描圖像獲得視野兩邊的樹干底部與地面的交界點(diǎn)，計(jì)算得到交點(diǎn)中心的一系列離散點(diǎn)簇，通過(guò)最小二乘法擬合該中點(diǎn)生成導(dǎo)航直線的算法。Matlab仿真結(jié)果表明：該算法可有效地處理多種林間復(fù)雜環(huán)境，符合人眼視覺(jué)所識(shí)別的導(dǎo)航線，在圖像批量處理時(shí)具有較高的可靠性和穩(wěn)定性。

    Abstract:

    An algorithm of producing navigation line for robot in forestry environment based on machine vision was developed. By scanning an image, boundaries between the tree bottom and earth are recorded, and the central points between both tree bottom sides are gained and a straight line generated by least-square fitting to perform as the navigating line. A central line was obtained as the navigation guidance line. Matlab simulation results show the arithmetic efficiency in various forestry environments, in accordance with human vision recognition. The reliability and stability are demonstrated during batch processing. 

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吳佳藝,楊慶華,鮑官軍,高峰.基于機(jī)器視覺(jué)的林間導(dǎo)航路徑生成算[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2009,40(7):176-179. of Path Navigation Line for Robot in Forestry Environment Based on Machine Vision[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(7):176-179.

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