Walking Goal Line Detection Based on Machine Vision on Harvesting Robot

摘要

As to aided driving by harvesting robot, an algorithm is hereby proposed for walking goal line detection on improved Hough transform (HT) on harvesting robot. A camera is to be fitted on the left top of the combine harvester in order to capture images of farmland scenes in the process of harvesting. The target locations of walking goal line as well as the optimal points in the straight-line direction are to be determined according to different color features of harvested areas, non-harvested areas and areas without farmlands respectively, by virtue of statistic analysis, morphology and digital sieve. The optimal points are selected as the point set, and wherein Improved HT based on a determined point is applied to complete line detection, which is in comparison with the traditional algorithm of HT, saves large storage space and long time computation. Through processing various pictures the algorithm is well proved with respect to its speed, anti-interference and accuracy.