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題名 | 自動車於直行種植環境之導引作業=Navigation of an Autonomous Vehicle in Row Crops Environment |
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作者 | 周奕宇; 周瑞仁; | 書刊名 | 農業機械學刊 |
卷期 | 7:4 1998.12[民87.12] |
頁次 | 頁13-26 |
分類號 | 434.251 |
關鍵詞 | 自動車; 導引; 植行; 消失點; Hough轉換; Hotelling轉換; Autonomous vehicle; Guidance; Row crops; Vanishing point; Hough transform; Hotelling transform; |
語文 | 中文(Chinese) |
中文摘要 | 本研究利用自動車上的視覺系統擷取農地中作物平行種植的植行資訊 , 經由 透視轉換 , 於影像平面上收斂成一個消失點的特住 , 再以此消失點的座標作為自 動車導引的依據。為了克服影像中植行特徵區域不連續的現象 , 以及細線化影像 處理過程過於耗時等問題 , 本研究結合 Hough 轉換與 Hotelling 轉換 , 於種有作物 和覆有罩皇軍的農田環境中偵測植行的消失點。當自動車即將進入作業環境的盡頭 區域時 , 經由影像平宙中所設定的盡頭偵測區域判斷 , 決定迴搏的時機。經由實 驗證實 , 直接運用農作物成排種植彼此平行的特性 , 即可獲得足夠的影像特徵資 訊達到自動車導引的目的 , 不需再提供額外的導引信號。 |
英文摘要 | In the study, a system is developed to automatically navigate a vehicle in agricultural environment, based on the information acquired by a vision device. The approach employs the characteristics of crop rows planted in parallel, which ultimately converge at a vanishing point in an image plane. Then, the direction toward the vanishing point can be considered as a heading angle for navigation. To solve the discontinuity of crop rows in the image and time consuming problem encountered in thinning algorithm, the study combines Hough transform with Hotelling transform to detect vanishing points of planted crops and crop canopies. If the autonomous vehicle is approaching the end of crop rows, the system could decide the timing of turnaround from the acquired image. The determination of vanishing points and turnaround timing is sufficient to navigate autonomous vehicles moving in the environment with planted crops or crops canopies which are forming a parallel geometrical structure. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。