Lidar based vineyard path identification approach to plant protection robot autonomous driving
2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)（2019）
摘要
The problem of heavy load and low efficiency of manual work in the vineyard environment needs to be solved. The identification of the center line between the ridge lines is the key to realize the technologies of the vineyard self-propelled plant protection robot. A method for identifying the center line of vineyard ridges based on two-dimensional lidar is proposed. Firstly, the moving average filter is designed to complete the filtering and denoising of the original data. Then, a model of iterative search peaks for ridge row classification is constructed. Finally, the minimum variance method and the inner angle bisector theorem are used to complete the fitting of the ridge line and the extraction of the center navigation line. Through the analysis of experimental results and data, it has the characteristics of high precision and strong robustness, which can meet the requirements of practical applications.
更多查看译文
关键词
lidar based vineyard path identification approach,vineyard environment,ridge line,vineyard self-propelled plant protection robot,vineyard ridges,two-dimensional lidar,moving average filter,filtering,denoising,iterative search peaks,ridge row classification,minimum variance method,inner angle bisector theorem,center navigation line extraction,plant protection robot autonomous driving
AI 理解论文
溯源树
样例
生成溯源树，研究论文发展脉络
Chat Paper
正在生成论文摘要