作物列に沿ったビジュアルサーボによる農場ナビゲーション
Visual Servoing-based Navigation for Monitoring Row-Crop Fields
作物列の規則的な構造を利用し、カメラ画像のみで地図や高価なRTK-GPSなしに畑の列を正確に走行し、次の列への切り替えも行えるナビゲーション手法を提案・実機検証した。
著者: Alireza Ahmadi, Lorenzo Nardi, Nived Chebrolu, Cyrill Stachniss
分類: cs.RO
原文アブストラクト
Autonomous navigation is a pre-requisite for field robots to carry out precision agriculture tasks. Typically, a robot has to navigate through a whole crop field several times during a season for monitoring the plants, for applying agrochemicals, or for performing targeted intervention actions. In this paper, we propose a framework tailored for navigation in row-crop fields by exploiting the regular crop-row structure present in the fields. Our approach uses only the images from on-board cameras without the need for performing explicit localization or maintaining a map of the field and thus can operate without expensive RTK-GPS solutions often used in agriculture automation systems. Our navigation approach allows the robot to follow the crop-rows accurately and handles the switch to the next row seamlessly within the same framework. We implemented our approach using C++ and ROS and thoroughly tested it in several simulated environments with different shapes and sizes of field. We also demonstrated the system running at frame-rate on an actual robot operating on a test row-crop field. The code and data have been published.
