• 中国计算机学会会刊
  • 中国科技核心期刊
  • 中文核心期刊

Computer Engineering & Science

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Monocular vision agricultural machine
localization based on pose threshold filter
 

HUANG Pei-chen1,2,LUO Xi-wen 1,2,ZHANG Zhi-gang 1,2,LIU Zhao-peng 1,2   

  1. (1.College of Engineering,South China Agricultural University,Guangzhou 510642;
    2.Key Laboratory of Key Technology on Agricultural Machine and Equipment,
    Ministry of Education,South China Agricultural University,Guangzhou 510642,China)
  • Received:2015-11-26 Revised:2016-04-22 Online:2018-01-25 Published:2018-01-25

Abstract:

Precise localization is an important premise of autonomous navigation for agricultural vehicles. We propose a localization algorithm based on monocular camera. After features are detected and tracked through multiple frames, vehicle poses are estimated based on 3D-2D correspondences. Furthermore, the translation absolute scale is calculated based on the assumption that the ground patches are locally flat and the camera is moving at a known and fixed height over the ground. Finally, the poses are refined by the pose threshold filter. Compared with the RTK-GPS data, the average relative position errors of the three different experimental terrains are 5.459 9%, 8.373 1% and 6.443 94%, and the average heading errors are 7.717 7°, 5.738 9° and 3.438 3°. The results show that the algorithm is feasible for agricultural vehicles localization.
 

Key words: localization, machine vision, agricultural machine, threshold filter