Vision-Based Perception for Localization of Autonomous Agricultural Robots

• Main Author: Ericson, Stefan
• Format: Doctoral Thesis
• Language: English
• Published: Högskolan i Skövde, Institutionen för ingenjörsvetenskap 2017
• Subjects: Robotics; Robotteknik och automation
• Online Access: http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-13408; http://nbn-resolving.de/urn:isbn:978-91-982690-7-9

In this thesis Stefan investigates how cameras can be used for localization of an agricultural mobile robot. He focuses on relative measurement that can be used to determine where a weeding tool is operating relative a weed detection sensor. It incorporates downward-facing perspective cameras, forward-facing perspective cameras and omnidirectional cameras. Stefan shows how the camera’s ego-motion can be estimated to obtain not only the position in 3D but also the orientation. He also shows how line structures in the field can be used to navigate a robot along the rows.