Vision based crop row navigation under varying field conditions in arable fields

被引：0

作者：

de Silva, Rajitha ^{[1
]}

Cielniak, Grzegorz ^{[2
]}

Gao, Junfeng ^{[2
]}

机构：

[1] Lincoln Agri-Robotics Centre, Lincoln Institute for Agri-Food Technology, University of Lincoln, Lincolnshire, Lincoln,LN6 7TS, United Kingdom

[2] Lincoln Centre for Autonomous Systems, University of Lincoln, Lincolnshire, Lincoln,LN6 7TS, United Kingdom

来源：

Computers and Electronics in Agriculture | 2024年 / 217卷

基金：

英国科研创新办公室;

关键词：

Agricultural robots - Deep learning - Farms - Musculoskeletal system - Robot vision - Signal detection - Sugar beets - Visual servoing;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

Accurate crop row detection is often challenged by the varying field conditions present in real-world arable fields. Traditional colour based segmentation is unable to cater for all such variations. The lack of comprehensive datasets in agricultural environments limits the researchers from developing robust segmentation models to detect crop rows. We present a dataset for crop row detection with 11 field variations from sugar beet and maize crops. We also present a novel crop row detection algorithm for visual servoing in crop row fields. The proposed method uses deep learning based crop row skeleton segmentation method followed by a crop row scanning algorithm that identifies the central crop row which the robot then follows. The unique dataset we used with skeleton representations for crop row detection enables robust crop row detection in challenging real world field conditions. Our algorithm can detect crop rows against varying field conditions such as curved crop rows, weed presence, discontinuities, growth stages, tramlines, shadows and light levels. Dense weed presence within inter-row space and discontinuities in crop rows were the most challenging field conditions for our crop row detection algorithm. An End-of Row detector algorithm was developed to detect the end of the crop row and navigate the robot towards the headland area when it reaches the end of the crop row. © 2023 The Author(s)

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