Autonomous Navigation And Row Detection in Crop Fields Using Computer Vision
dc.contributor.advisor | Gravdahl, Jan Tommy | |
dc.contributor.advisor | Utstumo, Trygve | |
dc.contributor.author | Dørum, Jarle | |
dc.date.accessioned | 2018-05-29T14:02:51Z | |
dc.date.available | 2018-05-29T14:02:51Z | |
dc.date.created | 2015-05-29 | |
dc.date.issued | 2015 | |
dc.identifier | ntnudaim:12748 | |
dc.identifier.uri | http://hdl.handle.net/11250/2499673 | |
dc.description.abstract | This thesis documents the development of an autonomous row crop guidance system for a differentially wheeled agricultural robot. Computer vision is used to identify rows and estimate their position and orientation. The estimates are used as measurements in a Kalman filter, before being supplied to a row controller which attempts to make the robot follow the row closely. A simulator with a realistic robot and fields have been developed, and all methods were tested on real robots. Tests have been done on an indoor recreation of a field and outdoors on a real carrot field. The result is a system which is able to autonomously traverse an entire field in simulations and recreated fields. | |
dc.language | eng | |
dc.publisher | NTNU | |
dc.subject | Kybernetikk og robotikk | |
dc.title | Autonomous Navigation And Row Detection in Crop Fields Using Computer Vision | |
dc.type | Master thesis |