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研究果园机器人和果树行之间的相对位置检测方法
Baoxing Gu1, Qin Liu2, Yi Gao1
1College of Engineering, Nanjing Agricultural University, Nanjing 210031, China.
Sensors (Basel, Switzerland)
|November 14, 2023
概括
这项研究引入了一种改进的YOLOv4模型,用于果园机器人准确检测果树树干. 这种机器视觉方法通过精确计算机器人的位置来增强自主导航,减少航向角度和横向偏差误差.
科学领域:
- 农业机器人农业机器人
- 计算机视觉 计算机视觉
- 机器学习 机器学习
背景情况:
- 果园机器人与果树排序的准确相对定位对于自主导航至关重要.
- 目前用于估计机器人到行位置参数的现有方法的准确性较低.
研究的目的:
- 提出一种基于机器视觉的新方法,用于检测果园机器人和果树排的相对位置.
- 为了提高自主果园机器人导航的位置参数估计的准确性.
主要方法:
- 使用了改进的YOLOv4模型来识别果树树干.
- 采用双眼相机三角测量来计算树干坐标和地面投影的坐标转换.
- 采用最小正方形方法应用线性装配来确定导航路径和机器人位置参数.
主要成果:
- 改进的YOLOv4模型显示,与原始YOLOv4.4相比,水果树干检测的平均准确度增加了5.92%,平均回忆率增加了7.91%,与原始YOLOv4.4相比.
- 拟议的方法实现了0.57°的平均误差方向角和0.02米的横向偏差.
- 准确的航向角度和横向偏差的计算在不同的行间位置上得到了验证.
结论:
- 开发的机器视觉方法显著提高了果园机器人定位的准确性.
- 这种方法为果园中的自主视觉导航系统提供了可靠的参考.
- 改进的YOLOv4模型为机器人应用程序的果树检测提供了卓越的性能.
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