林业导航机的视觉系统 林业导航机的视觉系统
Tiago Pereira1, Tiago Gameiro1, José Pedro2
1Polytechnic Institute of Coimbra, Coimbra Institute of Engineering, Rua Pedro Nunes-Quinta da Nora, 3030-199 Coimbra, Portugal.
Sensors (Basel, Switzerland)
|March 13, 2024
概括
本研究介绍了使用RGBD和热摄像头在森林中进行机器人导航的视觉系统. 该系统增强了障碍物识别和轨道调整,在具有挑战性的地形上实现更安全的自动驾驶.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 计算机视觉 计算机视觉
- 环境传感器环境传感器
背景情况:
- 在森林等复杂环境中的自主导航存在重大挑战.
- 现有系统经常面临动态障碍和变化的地形.
- 对于非结构化环境中的机器人应用来说,需要强大的实时感知系统至关重要.
研究的目的:
- 开发和评估一个集成的视觉系统,以加强在森林环境中的自主机器人导航.
- 评估各种传感器融合 (RGBD和热摄像头) 和先进算法的对导航安全和效率的影响.
- 用量身定制的数据集和现实森林测试来验证系统的性能.
主要方法:
- 开发一个集成英特尔RealSense 435i (RGBD) 和FLIR ADK (热) 摄像头的视觉系统.
- 实施先进的图像处理算法,用于实时识别障碍物和轨迹规划.
- 创建和利用两个专门的数据集,用于训练和评估森林条件下的导航性能.
主要成果:
- 综合视觉系统证明了有效的实时决策和避开障碍.
- 在实际森林环境中的测试证实了该系统能够动态调整机器人轨迹的能力.
- 该系统对于在具有挑战性的森林地形中确保安全的自主导航至关重要.
结论:
- 开发的视觉系统显著提高了复杂森林环境中的机器人的自主导航能力.
- 传感器融合和定制算法是实现在非结构化的户外环境中强大的性能的关键.
- 该系统的有效性通过现实世界的测试得到验证,突出了它在各种机器人应用中的潜力.
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