Research on Detection Method of Navigation Line for Ningxia Lycium Barbarum Garden

摘要

At present, developing intelligent production equipment under "general self-moving host platform + operation module" mode is the urgent task to realize the healthy development of L. barbarum industry. The problem of edge detection between the plant column region and the soil region and the problem of navigation line detection are difficulties for precision visual navigation of self-moving platform. For the problem of edge detection between plant column and soil, optimized the coefficient of color differences model based on Genetic Algorithm. For the problem of navigation line detection for the known segmentation image, construct the parameterized trapezoidal template, and match the parameterized trapezoidal template and segmentation image. Made matching overlap as fitness function, and optimized the trapezoidal template parameters based on Genetic Algorithm, then extract trapezoidal midline from the optimized trapezoidal template as navigation line. It laid the foundation for precision navigation of self-moving platform under L. barbarum garden environment.