Stereovision-based 3D field recognition for automatic guidance system of off-road vehicle

Fangming Zhang; Yibin Ying; Chuan Shen; Huanyu Jiang; Qin Zhang

doi:10.1117/12.630650

7 November 2005 Stereovision-based 3D field recognition for automatic guidance system of off-road vehicle

Fangming Zhang, Yibin Ying, Chuan Shen, Huanyu Jiang, Qin Zhang

Proceedings Volume 6000, Two- and Three-Dimensional Methods for Inspection and Metrology III; 60000S (2005) https://doi.org/10.1117/12.630650
Event: Optics East 2005, 2005, Boston, MA, United States

Abstract

A stereovision-based disparity evaluation algorithm was developed for rice crop field recognition. The gray level intensities and the correlation relation were integrated to produce the disparities of stereo-images. The surface of ground and rice were though as two rough planes, but their disparities waved in a narrow range. The cut/uncut edges of rice crops were first detected and track through the images. We used a step model to locate those edge positions. The points besides the edges were matched respectively to get disparity values using area correlation method. The 3D camera coordinates were computed based on those disparities. The vehicle coordinates were obtained by multiplying the 3D camera coordinates with a transform formula. It has been implemented on an agricultural robot and evaluated in rice crop field with straight rows. The results indicated that the developed stereovision navigation system is capable of reconstructing the field image.

Citation Download Citation

Fangming Zhang, Yibin Ying, Chuan Shen, Huanyu Jiang, and Qin Zhang "Stereovision-based 3D field recognition for automatic guidance system of off-road vehicle", Proc. SPIE 6000, Two- and Three-Dimensional Methods for Inspection and Metrology III, 60000S (7 November 2005); https://doi.org/10.1117/12.630650

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