NDLI: Vision-only outdoor localization of two-wheel tractor for autonomous operation in agricultural fields

Content Provider	IEEE Xplore Digital Library
Author	Piyathilaka, L. Munasinghe, R.
Copyright Year	2011
Description	Author affiliation: Department of Electronic and Telecommunication Engineering, University of Moratuwa, Sri Lanka (Piyathilaka, L.; Munasinghe, R.)
Abstract	This paper outlines the problem of outdoor autonomous robot localization for agricultural operations. Vision based outdoor localization system is developed entirely of off-the-shelf components that can accurately guide a field robot in small agricultural fields. Visual odometry using downward faced camera is proposed as a high resolution relative localization system. A stereo vision based range measurement system is also developed and field tested as an absolute localization system that can bound the incremental error caused by the visual odometry system. The extended Kalman filter with measurement gating is implemented using both visual odometry and stereo range measurement data. Field tests demonstrated proposed system is capable of localization of two wheel tractor at a very low cost with acceptable accuracy in small agricultural fields.
Starting Page	358
Ending Page	363
File Size	775619
Page Count	6
File Format	PDF
ISBN	9781457700323
e-ISBN	9781457700354
DOI	10.1109/ICIINFS.2011.6038094
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-08-16
Publisher Place	Sri Lanka
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Robot kinematics Robot vision systems Agricultural machinery agricultural vehicles Cameras Kalman filtering Stereo vision outdoor localization
Content Type	Text
Resource Type	Article

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