Orchard mapping and mobile robot localisation using on-board camera and laser scanner data fusion – Part B: Mapping and localisation
作者: Nagham ShalalTobias LowCheryl McCarthyNigel Hancock
作者单位: 1Faculty of Health, Engineering and Sciences, University of Southern Queensland, Toowoomba, Queensland, Australia
2National Centre for Engineering in Agriculture, University of Southern Queensland, Toowoomba, Queensland, Australia
3Control and Systems Engineering Department, University of Technology, Baghdad, Iraq
刊名: Computers and Electronics in Agriculture, 2015, Vol.119 , pp.267-278
来源数据库: Elsevier Journal
DOI: 10.1016/j.compag.2015.09.026
关键词: Mobile robotMappingLocalisationOrchardComputer visionLaser scanner
原始语种摘要: Abstract(#br)Accurate mobile robot localisation in orchards relies on precise orchard maps which help the mobile robot to efficiently estimate its position and orientation while moving between tree rows. This paper presents a new method for constructing a local orchard map based on tree trunk detection using camera and laser scanner data fusion. The final orchard map consists of the positions of the trees and non-tree objects (e.g. posts and tree supports) in the tree rows. The map of the individual trees is used as an a priori map to localise the mobile robot in the orchard. A data fusion algorithm based on an Extended Kalman Filter is used for position estimation. Experimental tests were conducted with a small robot platform in a real orchard environment to evaluate the performance of...
全文获取路径: Elsevier  (合作)
影响因子:1.766 (2012)

  • scanner 扫描设备
  • camera 摄影机
  • board 
  • vision 视力
  • fusion 融解
  • mobile 可动的
  • robot 机扑
  • laser 激光
  • Laser 莱塞牌汽车
  • Computer 电脑