Vision-based localization of a wheeled mobile robot for greenhouse applications: A daisy-chaining approach
- 作者：S.S. Mehta ; T.F. Burks ; W.E. Dixon
- 关键词：Daisy chaining ; Wheeled mobile robot (WMR) ; Greenhouse ; Vision-based localization
- 刊名：Computers and Electronics in Agriculture
- 出版年：2008
- 期刊代码：27_01681699
- 类别：abs
- 出版时间：August 2008
- 卷：63
- 期：1
- 页码：28-37
- 文件大小：612 K
摘要
The Euclidean position and orientation of a wheeled mobile robot (WMR) is typically required for autonomous selection and control of agricultural operations in a greenhouse. A vision-based localization scheme is formulated as a desire to identify the position and orientation of a WMR navigating in a greenhouse by utilizing the image feedback of the above-the-aisle targets from an on-board camera. An innovative daisy chaining strategy is used to find the local coordinates of the above-the-aisle targets in order to localize a WMR. In contrast to typical camera configurations used for vision-based control problems, the localization scheme in this paper is developed using a moving on-board camera viewing reseeding targets. Multi-view photogrammetric methods are used to develop relationships between different camera frames and WMR coordinate systems. Experimental results demonstrate the feasibility of the developed geometric model.