Publications:Visual Odometry System for Agricultural Field Robots
From ISLAB/CAISR
| Title | Visual Odometry System for Agricultural Field Robots |
|---|---|
| Author | Stefan Ericson and Björn Åstrand |
| Year | 2008 |
| PublicationType | Conference Paper |
| Journal | |
| HostPublication | Proceedings of the World Congress on Engineering and Computer Science 2008, WCECS 2008, October 22 - 24, 2008, San Francisco, USA |
| Conference | World Congress on Engineering and Computer Science, October 22 - 24, 2008, San Francisco, USA |
| DOI | |
| Diva url | http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:239515 |
| Abstract | In this paper we present a visual odometry system for agricultural field robots that is not sensitive to uneven terrain. A stereo camera system is mounted perpendicular to the ground and height and traveled distance are calculated using normalized cross correlation. A method for evaluating the system is developed, where flower boxes containing representative surfaces are placed in a metal-working lathe. The cameras are mounted on the carriage which can be positioned manually with 0.1 mm accuracy. Images are captured every 10 mm over 700 mm. The tests are performed on eight different surfaces representing real world situations. The resulting error is less than 0.6% of traveled distance on surfaces where the maximum height variation is measured to 96 mm. The variance is measured for eight test runs, total 5.6 m, to 0.040 mm. This accuracy is sufficient for crop-scale agricultural operations. |
