کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5002383 | 1368453 | 2016 | 6 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Vision-Based UAV Navigation in Orchards*
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Vision-Based UAV Navigation in Orchards* Vision-Based UAV Navigation in Orchards*](/preview/png/5002383.png)
چکیده انگلیسی
Unmanned Aerial Vehicles (UAV) are becoming increasingly common in agricultural applications. Currently, they are primarily used to fly over fields in open space. Navigation inside orchard-like environments remains challenging. We study the problem of orchard navigation with cameras on an aerial vehicle. We study both the controller and the vision component. For the vision component, we provide two methods for detecting orchard rows with frontal facing cameras. In the monocular case, we present a pipeline to extract the geometry of tree rows when there is a well defined path structure. In the binocular case, we present a depth-based navigation algorithm to extract the rows. For the controller component, we design a controller that uses both frontal and downward facing cameras and provides reliable performance even on the presence of strong wind disturbances.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC-PapersOnLine - Volume 49, Issue 16, 2016, Pages 10-15
Journal: IFAC-PapersOnLine - Volume 49, Issue 16, 2016, Pages 10-15
نویسندگان
Nikolaos Stefas, Haluk Bayram, Volkan Isler,