Research on visual navigation path extraction method of combine harvester based on machine vision

Jin Chen; Zhiping Wu; Yaoming Li; Zhenghua Xu; Kejiu Wang

doi:10.1117/12.2611632

22 October 2021 Research on visual navigation path extraction method of combine harvester based on machine vision

Jin Chen, Zhiping Wu, Yaoming Li, Zhenghua Xu, Kejiu Wang

Proceedings Volume 11928, International Conference on Image Processing and Intelligent Control (IPIC 2021); 1192802 (2021) https://doi.org/10.1117/12.2611632
Event: International Conference on Image Processing and Intelligent Control (IPIC 2021), 2021, Lanzhou, China

Abstract

Aiming at the problem that the complex environment of the paddy field affects the harvesting navigation path extraction during the visual navigation of the combine harvester, and also to improve the efficiency of the navigation path extraction, this paper proposes a navigation path extraction method based on the identification of unharvested areas. First, the Cb color channel of the image is extracted, and the image is initially segmented by adaptive threshold segmentation; then, the detection of the connected domain area and the unharvested area of the paddy field operation model are used to achieve the accurate segmentation of the unharvested area, and the operation boundary line pixel coordinate constraints are added to improve the probabilistic Hough transform algorithm by combining the characteristics of the combine harvester operation, and the boundary line slope is used as the fitting condition to speed up the extraction speed of the boundary line. Experiments show that the average recognition accuracy of the method reaches 95%, the average time of navigation path extraction is 30.5ms, the average image processing time is 0.89s/frame, and the extraction results are used for visual navigation, the relative error of visual navigation is less than or equal to 12.8cm at the operating speed of 0.8m/s, and the relative accuracy of navigation reaches 95.07%, the algorithm under the complex environment of paddy field has good applicability and high real-time performance, and provides effective navigation information for autonomous navigation of combine harvester.

Citation Download Citation

Jin Chen, Zhiping Wu, Yaoming Li, Zhenghua Xu, and Kejiu Wang "Research on visual navigation path extraction method of combine harvester based on machine vision", Proc. SPIE 11928, International Conference on Image Processing and Intelligent Control (IPIC 2021), 1192802 (22 October 2021); https://doi.org/10.1117/12.2611632

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KEYWORDS

Image segmentation

Image processing

Visualization

Hough transforms

Navigation systems

Detection and tracking algorithms

Image processing algorithms and systems

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