1997 Volume 59 Issue 5 Pages 37-44
This paper describes a method of determining the direction and position of a camera toward a crop row from field images. The images were clearly divided into crop area and other area by setting threshold line in the hue-intensity plane. To clear small noise in the image, 5×5-pixels were averaged and reduced into one block and then filtering was done. To detect the edge of the crop row, a vertical scanning method was used from the center of the image outward to the right and left. Based on the fact that the boundary lines were parallel, a perspective view transformation was calculated. The vanishing point in the image, the position of the camera between the crop rows, and the directional angle of camera to the crop row were obtained. The results showed that the precision was sufficient for the control of a mobile robot for agricultural use.
