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Real-Time Tracking of Plant Rows Using a Hough Transform |
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| Affiliation: | 1. University of Maryland, Baltimore County, Baltimore, MD, 21250, USA;2. College of Engineering and Physical Sciences, University of Guelph, Guelph, ON, N1G 2W1, Canada;1. Key Lab of Modern Precision Agriculture System Integration Research, Ministry of Education, China Agricultural University, Beijing 100083, PR China;2. College of Information Technology, Heilongjiang Bayi Agricultural University, DaQing 163319, PR China;1. Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, 928 Second Avenue, Hangzhou 310018, China;2. Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou 310018, China |
| Abstract: | This paper investigates the problem of deriving vehicle guidance information from images of crops grown in rows. Advantage is taken of the approximately known crop geometry and camera calibration to derive a Hough transform which will detect parallel crop rows. Because the transform integrates information over a number of rows as well as within rows it can operate in a robust fashion with relatively few image features (plant blobs). The algorithm is implemented on one transputer along with some dedicated hardware. The method has been used on six sequences of 30 images and operates at a rate sufficient to give 10 values of vehicle offset and heading angle per second. Typical errors are 12.5 mm of offset and 1.0° of heading angle. |
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