Accurate Crop Positioning Based on Attitude Correction of Weeding Robot

In order to obtain accurate hoeing distance and reduce the influence of external factors such as vibration and robot platform tilt, this paper proposes a crop positioning point correction algorithm based on attitude information fusion. The algorithm uses the attitude information to calculate the mapping relationship between the image position under the tilt of the target crop camera and the actual ground position, which corrects the crop positioning point. The experimental results show that compared with the uncorrected positioning point, the average error of visual measurement of hoeing distance is reduced by about 58% and 73%, respectively. This algorithm can effectively improve the measurement accuracy of hoeing distance and reduce the possibility of seedling injury.