Development of a Distance Sensor System for Robotic Mower Using Machine Vision

Abstract

This study proposes a distance sensor system for a robotic mower by combining object detection with deep learning and distance detection with stereo camera. Herein, a human subject in grass was used as a detection object and the sensor system was able to acquire the distance and direction of the target, even when it was partially covered. The grass had a height of 1 m, detection was stable up to distance of 7 m, and error was 0.2 m at distance of 4 m and 0.1 m at that of 7 m. The error of the direction measurement increased with the increase in the angle from the camera. The maximum error was 4.3° at 46°.