Field robot binocular vision navigation method and system

Abstract

The present invention discloses a field robot binocular vision navigation method and system. A baseline is defined at the middle of an image; a density curve is obtained on the baseline by using sector scanning; an angle constraint relation between a sector scanning density model and ridge lines is designed, and the angle constraint relation is used to search other ridge lines; logistic regression is adopted to identify nearest ridge lines, so that a ridge line spacing parameter can be obtained; the elevation map of crop ridges is obtained, and a height limit is added into the elevation map; the enhanced elevation map and a binary image are fused, so that a crop ridge confidence density map can be generated; and a ridge line extraction algorithm is applied to the crop ridge confidence density map so as to extract a navigation parameter. According to the field robot binocular vision navigation method and system of the invention, the enhanced elevation map is adopted to make up the defect of feature point sparseness; the weight of height information is increased; interference information which does not accord with specified height is filtered out; the concept of the confidence density map is adopted; the information of the enhanced elevation map and the binary image are fused; the sector scanning detection is adopted to detect the reference ridge line; a double-peak method is adopted to detect the adjacent ridge lines; logistic theories are used in combination; and therefore, the accuracy of ridge line detection can be improved.

Description

technical field [0001] The invention belongs to the field of robot vision, and in particular relates to a field robot binocular vision navigation method and system. Background technique [0002] Most traditional agriculture is labor-intensive and highly dependent on labor experience. Intelligent agricultural machinery navigation system will be one of the effective ways to solve this problem. The navigation system based on binocular vision has attracted more and more attention because of its low price and rich information. [0003] There are many researches on two-dimensional navigation of visual navigation at home and abroad, and the research results are relatively rich, while there are relatively few researches on three-dimensional navigation in the field. However, most of the researches on the existing algorithms are applicable under ideal conditions of field ridge growth. However, in the natural environment, the background information of the field is complex, and the li...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide a field robot binocular vision navigation method and system, aiming to solve the problem of insufficient navigation stability and low robustness of the existing field vision navigation method in the case of irregular field ridge structures

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