3D Autonomous Navigation Line Extraction for Field Roads Based on Binocular Vision

Abstract

This paper proposes a 3D autonomous navigation line extraction method for field roads in hilly regions based on a low-cost binocular vision system. Accurate guide path detection of field roads is a prerequisite for the automatic driving of agricultural machines. First, considering the lack of lane lines, blurred boundaries, and complex surroundings of field roads in hilly regions, a modified image processing method was established to strengthen shadow identification and information fusion to better distinguish the road area from its surroundings. Second, based on nonobvious shape characteristics and small differences in the gray values of the field roads inside the image, the centroid points of the road area as its statistical feature was extracted and smoothed and then used as the geometric primitives of stereo matching. Finally, an epipolar constraint and a homography matrix were applied for accurate matching and 3D reconstruction to obtain the autonomous navigation line of the field roads. Experiments on the automatic driving of a carrier on field roads showed that on straight roads, multicurvature complex roads and undulating roads, the mean deviations between the actual midline of the road and the automatically traveled trajectory were 0.031 m, 0.069 m, and 0.105 m, respectively, with maximum deviations of 0.133, 0.195 m, and 0.216 m, respectively. These test results demonstrate that the proposed method is feasible for road identification and 3D navigation line acquisition.

Navigation Algorithm Based on the Boundary Line of New and Old Soil Combined Using Guided Filtering and Improved Anti-noise Morphology

“…= + (9) By some ordinary operations the edge information can be easily obtained from the images of the edges detected by equation 7and (8). For detecting more detailed edges as well as improving the anti-noise ability of under the condition of equal noise, the noise immunity is defined as = +…”

Multisensor Fusion Method Based on the Belief Entropy and DS Evidence Theory

“…Multisensor systems can be used to obtain different types of information, such as sound and images. So information fusion technology plays a significant role in practical applications of intelligent multisensor systems [4][5][6][7]. Multisensor information fusion technology [8] deals with the independent observation data that are obtained from multiple sensors by selecting the appropriate information-processing algorithm.…”

Bidirectional Sliding Window for Boundary Recognition of Pavement Construction Area Using GPS-RTK

“…Identification of the road boundary is also critical in the field of geographic information and plays a vital role in mapping, public management and road data updates. Many documents propose using GPS trajectories to extract and update road data, which generally involves using clustering [6][7][8], kernel density estimation [9,10], trajectory merging [11,12] and geometric modelling [13,14]. However, these methods extract road boundaries by analyzing and processing a large number of GPS trajectories, which are generally of meter-level accuracy [15].…”

“…According to actual construction requirements, the length of Pavement Construction Area (PCA) boundaries is generally only about 50 m and the width is only 10 to 20 m, but the positioning needs to be accurate to 1 decimeter. In addition, three types 8], kernel density estimation [9,10], trajectory merging [11,12] and geometric modelling [13,14]. However, these methods extract road boundaries by analyzing and processing a large number of GPS trajectories, which are generally of meter-level accuracy [15].…”