Crop Row Detection in Maize for Developing Navigation Algorithms under Changing Plant Growth Stages

Publication Type

Contribution to conference

Authors

D. Reiser, M. G. Izard, M. V. Arellano, D. S. Paraforos, H. W. Griepentrog

Year of publication

2015

Published in

Robot2015: Second Iberian Robotics Conference, Advances in Robotics

Editor

Reis, L.P., Moreira, A.P., Lima, P.U., Montano, L., Muñoz-Martinez, V.

Pubisher

Springer

Band/Volume

417-418/

Series/labeling

Advances in Intelligent Systems and Computing Series

ISBN / ISSN / eISSN

978-3-319-27149-1

Conference name

Second Iberian Robotics Conference

Conference location

Lisbon

Conference date

19-21.11.15

To develop robust algorithms for agricultural navigation, different growth stages of the plants have to be considered. For fast validation and repeatable testing of algorithms, a dataset was recorded by a 4 wheeled robot, equipped with a frame of different sensors and was guided through maize rows. The robot position was simultaneously tracked by a total station, to get precise reference of the sensor data. The plant position and parameters were measured for comparing the sensor values. A horizontal laser scanner and corresponding total station data was recorded for 7 times over a period of 6 weeks. It was used to check the performance of a common RANSAC row algorithm. Results showed the best heading detection at a mean growth height of 0.268 m.