The invention discloses a furrow identification and navigation line extraction method of a self-propelled transportation platform for
ridge planting vegetables. The furrow identification and navigation line extraction method comprises the steps of
image acquisition,
image boundary smoothing processing, color conversion, threshold segmentation, denoising
processing,
edge detection, midpoint extraction and navigation
line fitting.
Gaussian blur filtering is used to carry out boundary blur
processing on the image, then a traditional BGR image is converted into an HSV image to reduce the influence of an illumination condition on furrow identification, and a low-influence component is separated to carry out next processing; the method comprises the following steps of: enhancing gray information by adopting a Masking
algorithm, effectively realizing threshold segmentation and successfully identifying a furrow position in combination with an OTSU method, further removing most
noise interference in an image by utilizing a morphological denoising method, realizing deep denoising of the image on the basis of a FindContours, extracting a furrow boundary, and finally, extracting the furrow boundary. Then, the horizontal coordinates of the two boundary points of the furrow are utilized to solve the midpoint coordinate
point cloud of each row in the image pixels, and finally, the
point cloud coordinates are utilized to improve the RANSAC
algorithm to realize the navigation
line fitting of the furrow.