کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
6539622 | 1421101 | 2018 | 18 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Multi-feature fusion tree trunk detection and orchard mobile robot localization using camera/ultrasonic sensors
ترجمه فارسی عنوان
تشخیص تنه درخت با فیبر چند منظوره و محلی سازی ربات های تلفن همراه با استفاده از سنسورهای دوربین / اولتراسونیک
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کلمات کلیدی
تلفیق چند ویژگی، تشخیص تنه پردازش تصویر، سنسورهای دوربین / اولتراسونیک، محلی سازی ربات موبایل،
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
نرم افزارهای علوم کامپیوتر
چکیده انگلیسی
In a semi-structured orange orchard, multi-tree trunk detection is an effective method for mobile robot localization. However, because of the complex background of the natural orchard environment, dwarf orange tree trunks are easy to misrecognize. In this paper, we present a novel tree trunk detection method based on multiple cameras and ultrasonic sensors integration technology. These devices are integrated into a single organic mechanical structure that can rotate to detect the surrounding orchard environment such that they can reduce the non-detection zone. Multi-feature fusion will be used in this study. First, histograms of oriented gradient (HOG) and support vector machine (SVM) are used to train an initial tree trunk classifier. Next, the gray scale histogram features of the tree trunk and non-trunk images are extracted to optimize the classifier. Finally, the Roberts cross edge detector is used to extract the trunk's gradient histogram features, which will improve the recognition accuracy of the classifier. The orange tree trunk recognition experiments exhibited a recall rate and accuracy of 92.14% and 95.49%, respectively. On this basis, ultrasonic sensors are used to get the location data of the trunks and a moving average filter is used to reduce the error of mobile robot localization. The experiment showed that the average localization error was approximately 62â¯mm (2.5%), and the robot moved stably and precisely along the road of the semi-structured orange orchard.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Computers and Electronics in Agriculture - Volume 147, April 2018, Pages 91-108
Journal: Computers and Electronics in Agriculture - Volume 147, April 2018, Pages 91-108
نویسندگان
Xianyi Chen, Sun'an Wang, Binquan Zhang, Liang Luo,