Vine trunk detector for a reliable robot localization system

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2016

Autores

Mendes, J (Autor) Outra; Filipe Neves Santos (Autor) FEUP; Ferraz, N (Autor) Outra; Couto, P (Autor) Outra; Morais, R (Autor) Outra

Ata de Conferência Internacional

Título: 2016 International Conference on Autonomous Robot Systems and Competitions, ICARSC 2016, Bragança, Portugal, May 4-6, 2016

Páginas: 1-6

Indexação

ISI Web of Knowledge - 59 Citações

Scopus - 20 Citações

Outras Informações

ID Authenticus: P-00M-9EH

DOI: 10.1109/icarsc.2016.68

Abstract (EN): Develop ground robots for crop monitoring and harvesting in steep slope vineyards is a complex challenge due to two main reasons: harsh condition of the terrain and unstable localization accuracy got from Global Positioning Systems (GPS). For this context, a reliable localization system requires a high density of natural/artificial features and an accurate detector. This paper presents a novel visual detector for Vineyards Trunks and Masts (ViTruDe). The ViTruDe detector was developed considering the constrains of a cost-effective robot to carry-out crop monitoring tasks in steep slope vineyard environment. The obtained results with real data shows an accuracy higher than 95% for all tested configurations. The training and test data are made public for future research work. This approach is a contribution for an accurate and reliable localization system that is GPS-free.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6