期刊论文

Li, M.(limingcs@hotmail.com)

中文

农业机械学报

1000-1298

2012

43

12

181-186

10.6041/j.issn.1000-1298.2012.12.033

教育部留学归国人员科研启动基金资助项目（教外司留[2011]1139号） 湖南省自然科学基金资助项目（11JJ6024） 湖南省优秀青年基金资助项目（10B047） 湖南省科研条件创新专项资助项目（2012TT2045）

本校为第一机构

为保证全方位视觉图像中标识方位角度的计算精度,研究了图像除噪和提取人工标识的算法。采用低频滤波除噪;计算了图像中红色像素的强度,并设置红色阈值提取红色特征像素,以相邻像素的欧几里得几何距离来划分像素块,每像素块的重心作为图像中的位置标识;求出图像中标识与相机投影中心的方位角度;在复杂环境中,采用蓝色块来辅助红色标识判别人工标识。通过图像标识识别实验验证了除噪处理的有效性;并在面积为30 m×30 m的室外平地上,进行了定点、直线行驶和传感器倾斜实验。定点实验结果为标识方位角平均绝对误差和均方根误差平均值分别为1.12°和2.10°;传感器倾斜实验结果表明5°倾斜对方位角的...

The position accuracy is mainly decided by the accuracy of landmark directional angle for the localization system of agricultural machinery based on omnidirectional vision sensor. The algorithms about low pass filter eliminating noise and artificial landmark features detection was studied. After eliminating noise, the red pixels' intensity was calculated and the red landmark pixels beyond the threshold were extracted. Based on the Euclid geometrical distance of neighbor pixels, the small area of pixels was divided and the center of gravity was calculated for the extracted small area representi...