作物列を自律走行する純視覚ナビゲーション

原文アブストラクト

Autonomous navigation of a robot in agricultural fields is essential for every task from crop monitoring to weed management and fertilizer application. Many current approaches rely on accurate GPS, however, such technology is expensive and also prone to failure (e.g. through lack of coverage). As such, autonomous navigation through sensors that can interpret their environment (such as cameras) is important to achieve the goal of autonomy in agriculture. In this paper, we introduce a purely vision-based navigation scheme that is able to reliably guide the robot through row-crop fields without manual intervention. Independent of any global localization or mapping, this approach is able to accurately follow the crop-rows and switch between the rows, only using onboard cameras. With the help of a novel crop-row detection and a novel crop-row switching technique, our navigation scheme can be deployed in a wide range of fields with different canopy types in various growth stages with limited parameter tuning, creating a crop agnostic navigation approach. We have extensively evaluated our approach in three different fields under various illumination conditions using our agricultural robotic platform (BonnBot-I). For navigation, our approach is evaluated on five crop types and achieves an average navigation accuracy of 3.82cm relative to manual teleoperation.