Stereo vision three-dimensional terrain maps for precision agriculture
Stereo vision three-dimensional terrain maps for precision agriculture
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DOI：
10.1016/j.compag.2007.07.007
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发表时间：
2008-03-01
影响因子：
8.3
通讯作者：
Reid, John F.
中科院分区：
文献类型：
--
作者：
Rovira-Mas, Francisco;Zhang, Qin;Reid, John F.
对精确农业、信息技术和自主导航的综合兴趣已经导致对生成移动的设备环境的3D地图的兴趣日益增长。本文提出了一种方法来创建三维地形图相结合的信息与立体相机，定位传感器，惯性测量单元，都安装在一个移动的设备平台。感知引擎包括一个紧凑的立体摄像机，捕捉现场场景，并生成3D点云，将其转换为大地坐标，并组装在一个全球现场地图。结果表明，立体感知可以提供精确农业和田间机器人应用中构建3D田间地图所需的细节和精度水平。(C)2007 Elsevier B.V.保留所有权利。
The combined interest in precision agriculture, information technology, and autonomous navigation has led to a growing interest in the generation of 3D maps of mobile equipment surroundings. This article proposes a method to create 3D terrain maps by combining the information captured with a stereo camera, a localization sensor, and an inertial measurement unit, all installed on a mobile equipment platform. The perception engine comprises a compact stereo camera that captures field scenes and generates 3D point clouds, which are transformed to geodetic coordinates and assembled in a global field map. The results showed that stereo perception can provide the level of detail and accuracy needed in the construction of 3D field maps for precision agriculture and field robotics applications. (C) 2007 Elsevier B.V. All rights reserved.