Automated Topological Mapping for Agricultural Robots

摘要

Essential to agricultural robot deployment in farms are accurate topological maps, which are manually created in current systems. In this work we present a novel approach to automatically generate a topological map along crop rows from aerials images for the deployment of agricultural mobile robots. We evaluate our system in a digital twin of a farm environment using real-world textures and physical simulation, and also demonstrate its applicability to aerial images of a real farm.