Path recognition method of agricultural vehicle in different illumination environments

摘要

In order to improve the adaptability of the vision navigation system in the agricultural vehicle to various environments,the path recognition method for different illumination environments was proposed in this paper.Firstly,the influence of different illumination environments on the path recognition for the vision navigation system of the agricultural vehicle was investigated.Secondly,on basis of path recognition in the ordinary environment,a new method mainly composed of histogram equalization algoritihm and center line detecting algorithm was applied in the path recognition in different illumination environment.Finally,the many images of different illumination environment were used to verify proposed method.Experimental results showed that the new method was effective in various illumination environments,and could obtain the target navigation path reliably and accurately.The recognition correct rate of the vision navigation system was 92％,and the average cost time was 245 ms.The research can provide a reference for design of the vision navigation system in the agricultural vehicle.%为了使农业车辆视觉导航系统对不同的光照环境具有良好的适应性,分析了不同光照环境对农业车辆导航路径的影响.在普通环境导航路径识别方法的基础上,针对影响较大的强光照环境,提出一种基于直方图均衡与中心线检测的适应于不同光照环境的导航路径识别方法.大量田间试验证明,该方法的识别准确率为92％,平均消耗时间为245m,能够快速、可靠、准确的提取导航路径特征.该研究可为农业车辆视觉航系统的研发提供参考.