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J. Imaging 2015, 1(1), 115-133; doi:10.3390/jimaging1010115

Precise Navigation of Small Agricultural Robots in Sensitive Areas with a Smart Plant Camera

1
Leibniz Institute for Agricultural Engineering Potsdam-Bornim e.V., Max-Eyth-Allee 100, D-14469 Potsdam, Germany
2
Embedded Systems for Information Technology, Ruhr-University of Bochum, Universitätsstraße 150, D-44801 Bochum, Germany
These authors contributed equally to this work.
*
Author to whom correspondence should be addressed.
Academic Editors: Gonzalo Pajares Martinsanz and Francisco Rovira-Más
Received: 4 September 2015 / Revised: 30 September 2015 / Accepted: 30 September 2015 / Published: 13 October 2015
(This article belongs to the Special Issue Image Processing in Agriculture and Forestry)
View Full-Text   |   Download PDF [5249 KB, uploaded 13 October 2015]   |  

Abstract

Most of the relevant technology related to precision agriculture is currently controlled by Global Positioning Systems (GPS) and uploaded map data; however, in sensitive areas with young or expensive plants, small robots are becoming more widely used in exclusive work. These robots must follow the plant lines with centimeter precision to protect plant growth. For cases in which GPS fails, a camera-based solution is often used for navigation because of the system cost and simplicity. The low-cost plant camera presented here generates images in which plants are contrasted against the soil, thus enabling the use of simple cross-correlation functions to establish high-resolution navigation control in the centimeter range. Based on the foresight provided by images from in front of the vehicle, robust vehicle control can be established without any dead time; as a result, off-loading the main robot control and overshooting can be avoided. View Full-Text
Keywords: vision-based navigation; infield navigation; steering control; plant camera vision-based navigation; infield navigation; steering control; plant camera
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Dworak, V.; Huebner, M.; Selbeck, J. Precise Navigation of Small Agricultural Robots in Sensitive Areas with a Smart Plant Camera. J. Imaging 2015, 1, 115-133.

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