De Silva, Rajitha, Cielniak, Grzegorz and Gao, Junfeng (2023) Leaving the Lines Behind: Vision-Based Crop Row Exit for Agricultural Robot Navigation. In: ICRA2023 Workshop on TIG-IV: Agri-food Robotics From Farm to Fork, 2 June 2023, ExCeL London and Zoom.
Full content URL: https://doi.org/10.48550/arXiv.2306.05869
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| Item Type: | Conference or Workshop contribution (Paper) |
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| Item Status: | Live Archive |
Abstract
Usage of purely vision based solutions for row switching is not well explored in existing vision based crop row navigation frameworks. This method only uses RGB images for local feature matching based visual feedback to exit crop row. Depth images were used at crop row end to estimatethe navigation distance within headland. The algorithm was tested on diverse headland areas with soil and vegetation. The proposed method could reach the end of the crop row and then navigate into the headland completely leaving behind the crop row with an error margin of 50 cm.
| Additional Information: | Best Paper Award at TIG-IV workshop at ICRA 2023 |
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| Keywords: | Agri-robotics, Mobile Robot Navigation., Computer vision |
| Subjects: | G Mathematical and Computer Sciences > G740 Computer Vision D Veterinary Sciences, Agriculture and related subjects > D470 Agricultural Technology |
| Divisions: | College of Science > Lincoln Institute for Agri-Food Technology |
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| ID Code: | 55044 |
| Deposited On: | 19 Jul 2023 15:15 |
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