Probabilistic navigation of agricultural robot vehicle using machine vision

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The objective of this research was to navigate an agricultural vehicle such as a tractor, a combine harvester or a rice transplanter using a GPS compass and a machine vision system. Since the GPS compass was less accurate than RTK-GPS in positioning, a stereo machine vision was used to decrease the error. The probabilistic filtering algorithm was developed for rice planting operation. The developed method was validated with the simulation and the actual experiment.