Agricultural Robot Localization Based on Camera Ranging

Abstract:

In this paper, a camera ranging method for agricultural robot localization in arable farming is described. Three calibration objects in different directions in the field are set. The distances between the robot are calculated, and the calibration objects are used the camera to obtain the robot position. The benchmarking procedure in Matlab includes image binarization of the calibration object and the curve fitting method was used to establish the relationship between the pixels number of the calibration object and the actual distance. The verification results show that the relative error of ranging is less than 1.5%. Furthermore, the camera ranging method for agricultural robot localization is proved to be easy and feasible.

• Periodical: Advanced Materials Research (Volumes 1044-1045)
• Pages: 704-707
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.1044-1045.704
• Online since: October 2014
• Authors: Ke Wang*, Zhen Yang Ge, Ying Jie Yu, Wang Wang Wu
• Keywords: Agricultural Robot, Camera Ranging, Curve Fitting, Field Localization, Image Binarization, Pixel Number

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