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Method for extracting leading line in orchard

An extraction method and navigation line technology, applied in the field of image processing, can solve the problems of time-consuming, affecting the real-time performance of the algorithm, and difficult to ensure the real-time performance requirements, and achieve the effect of fast extraction and good real-time performance.

Inactive Publication Date: 2012-08-15
CHINA AGRI UNIV
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AI Technical Summary

Problems solved by technology

The Hough transform algorithm is robust, stable and reliable, but the disadvantage is that it is very time-consuming and difficult to guarantee real-time requirements
Some researchers extract the joint point between the trunk of the fruit tree and the ground, and use the least squares method to extract the navigation line. This method needs to segment the collected image, perform opening and closing operations, and perform noise removal operations based on area features. These operations are also very Time-consuming, affecting the real-time performance of the algorithm

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  • Method for extracting leading line in orchard
  • Method for extracting leading line in orchard
  • Method for extracting leading line in orchard

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Embodiment Construction

[0031] The method for extracting navigation lines between orchard forests proposed by the present invention is described in detail as follows in conjunction with the accompanying drawings and embodiments.

[0032] Such as figure 1 As shown, the method for extracting navigation lines between orchard forests according to an embodiment of the present invention includes steps:

[0033] S1. Collect the target orchard inter-forest image, and generate the color difference image of the collected image;

[0034] S2. Obtain the projection of the pixel gray value of the color difference image in the horizontal direction and the vertical direction;

[0035] S3. According to the projection obtained in step S2, obtain the midpoint of the distant view and the midpoint of the near view of the road in the target orchard;

[0036] S4. Obtain the navigation line according to the midpoint of the distant view and the midpoint of the near view.

[0037] In the present invention, generally, the c...

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Abstract

The invention discloses a method for extracting a leading line in an orchard and relates to the technical field of image processing. The method comprises the following steps: S1) acquiring images in a target orchard and generating chromatic aberration images of the acquired images; S2) acquiring the projections of pixel gray values of the chromatic aberration images along the horizontal and vertical directions; S3) acquiring a far scene midpoint and a near scene midpoint of the road in the target orchard, according to the projections; and S4) acquiring the leading line according to the far scene midpoint and the near scene midpoint. The method has a high extracting speed and has the advantages of simplification, reliability, excellent instantaneity, and the like.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a method for extracting navigation lines between orchard forests. Background technique [0002] Highly automated agricultural machinery and more intelligent agricultural robots have developed rapidly in recent years, which have played a major role in reducing the labor intensity of agricultural production, alleviating the shortage of rural labor force, and reducing the production cost of agricultural products. The navigation components of the above-mentioned highly automated agricultural machinery and agricultural robots have always been a research hotspot due to their key functions and relatively high technical difficulty. According to the types, there are GPS navigation, inertial navigation and machine vision navigation. With the advantages of wide range and complete information, with the rapid development of electronic technology, it has been widely used. [0003] Th...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00
Inventor 刘刚司永胜何蓓冯娟任雯
Owner CHINA AGRI UNIV
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