Sugarcane field navigation line extraction method

Abstract

The invention relates to a sugarcane field navigation line extraction method. The sugarcane field navigation line extraction method comprises the following steps: acquiring sugarcane field inter-row ridge video information, and performing frame extraction on the video information to obtain sugarcane field inter-row ridge image information; segmenting the sugarcane row-to-row ridge image through the trained improved DeepLabv3 + model to obtain a ridge line segmentation map; a random sampling consensus algorithm is used for fitting a navigation line in a ridge point set of a ridge line segmentation map segmentation mask, meanwhile, outliers are processed, straight line parameters are optimized to obtain a final navigation line model, and a straight line is fitted through the final navigation line model to serve as the navigation line of the sugarcane ridge land. According to the scheme provided by the invention, the problems of sugarcane stem leaf shielding, furrow shadow interference and weed misrecognition can be solved, the accuracy and robustness of ridge line segmentation are improved, straight line parameters are further optimized, and high-precision output of the direction and position of the navigation line is ensured.

Images