期刊
ROBOT 2015: SECOND IBERIAN ROBOTICS CONFERENCE: ADVANCES IN ROBOTICS, VOL 1
卷 417, 期 -, 页码 371-382出版社
SPRINGER-VERLAG BERLIN
DOI: 10.1007/978-3-319-27146-0_29
关键词
Ground-truth; Reference; Algorithms; RANSAC; Total station; LIDAR; Plant position; Growth status; Row navigation
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.
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