发明名称 |
Vision-based crop line tracking for harvesters |
摘要 |
A self-propelled harvester is provided with apparatus for tracking a crop line and steering the harvester along the crop line without operator assistance. The apparatus includes a video camera for viewing the landscape in front of the harvester and forming an image which may be electronically scanned pixel-by-pixel and line by line to produce a video signal containing information regarding the spectral characteristics of the image at each pixel. A microprocessor is programmed to act as a discriminator and a segmentor. The discriminator produces discriminant signals D(i,j) where i is the magnitude of a discriminant function and j is the relative position of a pixel on a scan line. The segmentor determines a step function which best fits the magnitudes of the discriminant signals for one scan line. The pixel position jn corresponding to the step of this step function is taken as a vote on the location of the crop line and thus a vote on the direction the harvester should be steered. The votes are summed for each pixel position j over one full scan of image. The summed votes are then normalized, time-weighted, and averaged with the normalized and time-weighted votes derived from previously scanned images to derive a steering command.
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申请公布号 |
US5911669(A) |
申请公布日期 |
1999.06.15 |
申请号 |
US19970840771 |
申请日期 |
1997.04.16 |
申请人 |
CARNEGIE MELLON UNIVERSITY |
发明人 |
STENTZ, ANTHONY;OLLIS, MARK;FITZPATRICK, KERIEN;HOFFMAN, REGIS;WHITTAKER, WILLIAM |
分类号 |
A01B69/00;A01D41/127;(IPC1-7):G06F15/20 |
主分类号 |
A01B69/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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