A bandpass filter-based approach to crop row location and tracking |
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| Affiliation: | 1. Institute for Sustainable Agriculture, CSIC, P.O. Box 4084, 14080 Córdoba, Spain;2. Department of Computer Science and Numerical Analysis, University of Córdoba, Campus de Rabanales, C2 Building, 14071 Córdoba, Spain;3. Department of Mathematics and Engineering, Universidad Loyola Andalucía, Third Building, 14004 Córdoba, Spain;1. School of Agricultural Equipment Engineering, Jiangsu University, 301 Xuefu Road, Zhenjiang 212013, Jiangsu, PR China;2. School of Life Science and Engineering, Southwest University of Science and Technology, Mianyang 621010, Sichuan, PR China;3. Key Laboratory of Modern Agricultural Equipment and Technology, Ministry of Education and Jiangsu Province, PR China |
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| Abstract: | A method of locating crop rows in image sequences is described. Unlike several previously reported algorithms, the method does not rely upon the segmentation of plant material from the background on the basis of absolute brightness or colour. Rather, the periodic amplitude variation due to parallel crop rows is exploited. Given the geometry of the camera arrangement and the crop row spacing, a filter is derived which allows the crop rows to be extracted whilst attenuating the effects of partial shadowing and spurious features such as weeds. The position and orientation of the rows are tracked using an extended Kalman filter.The method has been used to guide a mechanical hoe in winter wheat with an RMS positional error of 15.6 mm at a speed of 1.6 ms−1, despite the presence of complex shadows cast by the tractor in the imaged area. |
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