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

Publikations-Art

Kongressbeitrag

Autoren

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

Erscheinungsjahr

2015

Veröffentlicht in

Robot2015: Second Iberian Robotics Conference, Advances in Robotics

Herausgeber

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

Verlag

Springer

Band/Volume

417-418/

Serie/Bezeichnung

Advances in Intelligent Systems and Computing Series

ISBN / ISSN / eISSN

978-3-319-27149-1

Tagungsname

Second Iberian Robotics Conference

Tagungsort

Lisbon

Tagungsdatum

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.