RESEARCH ON VISUAL NAVIGATION PATH DETECTION METHOD FOR DENSE PLUM GROVE
DOI : https://doi.org/10.35633/inmateh-65-12
Aiming at the field management of plum grove in Inner Mongolia of China, taking the dense planting plum groves in Bikeqi town of Hohhot City as the research object, this paper proposed a visual navigation path detection algorithm for plum grove. By processing the video image information of plum grove, comparing RGB and HSV color space model, HSV color model was selected to separate the plant and background in V channel. Homomorphic filtering was used to highlight the region of interest in the image, Otsu was selected to segment the image, the intersection of plum trunk and ground was extracted as feature points, and the least square method was used to fit the navigation path. Through the comparative analysis of detection rate under different detection conditions in one day, the verification test of route accuracy was carried out. The experimental results show that: for dense planting plum grove, the average path detection accuracy of the algorithm is 70% and 73.3% under the condition of front light and weak light, respectively. The detection accuracy and real-time meet the requirements of plum grove field management, and the navigation baseline can be generated more accurately, which provides a preliminary basis for the realization of mechanical vision navigation in plum grove field management.
Abstract in Chinese