Obstacle detection, localization, and avoidance for autonomous robotic seeding**

劳动力成本和可用性被认为是加拿大农业面临的最大挑战。作为SeedMaster的一部分，DOT技术公司将创造一个自主动力装置，作为主要的移动系统，用于携带用于播种、施肥和耕作的多种农具。这个简单的自主动力装置将使农民能够通过一个共享的、较小的、经济的移动基地使用一系列农场功能，称为DOT。虽然有大量关于轮式机器人/车辆在室内/室外应用的自主导航的文献，但在农场中使用的自主机器领域的研究仍处于初级阶段。*该公司的计划是应对挑战，为农业行业执行任务提供低成本、但现实世界的机器人解决方案。该公司计划创建一种自主动力装置，作为主要移动系统(即DOT)，用于携带用于播种、施肥、修剪和耕作的多种农具。该项目的目标是通过开发以下技术来提高农场移动系统(DOT)的可靠性：(I)使用RGB\D相机的先进障碍物检测、定位和避障技术，而不是忽略移动障碍和更重要的人类的预先绘制的地图；以及(Ii)精确的作物行检测和跟踪方法，以实现基于图像的机器人定位和路径规划，以最大限度地提高作业效率(例如，进行耕作任务，如在田地中均匀播种)。*拟议方法的开发和整合将扩大公司的市场和竞争力。除了对公司的好处外，拟议的工作还将为参与该项目和/或继续进行该项目的研究生和博士后研究员创造培训和就业机会。**

Labor cost and availability are identified as the biggest challenges facing Canadian agriculture. The DOT Technology Corporation, as a part of the SeedMaster, is to create an autonomous power unit that acts as a primary locomotion system for carrying a multitude of farm implements used for seeding, fertilizing, and tilling. This simple autonomous power unit will enable farmers to employ a number of farm functions through a shared, smaller, and economical locomotion base, called DOT. While there is a huge body of literature on autonomous navigation of wheeled robots/vehicles in indoor/outdoor applications, the research in the realm of autonomous machines used in farms remains at its infancy. ****The plan of the company is to meet the challenges of delivering low cost, yet real-world robotic solutions for performing tasks in the agriculture industry. The company plans to create an autonomous power unit that acts as a primary locomotion system (namely DOT) for carrying a multitude of farm implements used for seeding, fertilizing, pruning and tilling. The objectives of this project are to enhance reliability of farm mobility system (DOT) by developing: (i) advanced obstacle detection, localization, and avoidance techniques using an RGB\D camera, instead of pre-sketched maps ignoring mobile obstacles and more importantly human beings; and (ii) accurate crop-row detection and tracking method to enable image-based localization and path planning of the robot to maximize operation efficiency (e.g., conducting farming tasks such as seeding evenly across the field). ****Development and integration of the proposed methods will expand the company's market and competitiveness. In addition to the benefits to the company, the proposed work will create training and job opportunities for the graduate students and postdoctoral fellows engaged in this project and/or its continuation.**