An Adaptive Vision Navigation Algorithm in Agricultural IoT System for Smart Agricultural Robots
作者机构：School of Computer scienceInner Mongolia UniversityHohhot010021China Key Laboratory of Wireless Networks and Mobile ComputingSchool of Computer ScienceInner Mongolia UniversityHohhot010021China Simulation CenterAir Force Early Warning AcademyWuhan430019China
出 版 物：《Computers, Materials & Continua》 (计算机、材料和连续体（英文）)
年 卷 期：2021年第66卷第1期
页 面：1043-1056页
核心收录：
学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置]
基 金：the National Natural Science Foundationof China(No.31760345)
主 题：Smart agriculture robot 3D vision guidance confidence density image guidance information extraction agriculture IoT
摘 要：As the agricultural internet of things(IoT)technology has evolved,smart agricultural robots needs to have both flexibility and adaptability when moving in complex field *** this paper,we propose the concept of a vision-based navigation system for the agricultural IoT and a binocular vision navigation algorithm for smart agricultural robots,which can fuse the edge contour and the height information of rows of crop in images to extract the navigation ***,the speeded-up robust feature(SURF)extracting and matching algorithm is used to obtain featuring point pairs from the green crop row images observed by the binocular parallel vision *** the confidence density image is constructed by integrating the enhanced elevation image and the corresponding binarized crop row image,where the edge contour and the height information of crop row are fused to extract the navigation parameters(θ,d)based on the model of a smart agricultural ***,the five navigation network instruction sets are designed based on the navigation angleθand the lateral distance d,which represent the basic movements for a certain type of smart agricultural robot working in a *** experimental results in the laboratory show that the algorithm proposed in this study is effective with small turning errors and low standard deviations,and can provide a valuable reference for the further practical application of binocular vision navigation systems in smart agricultural robots in the agricultural IoT system.
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