Stereovision system for estimating tractors and agricultural machines transit area under orchards canopy  

作　　者：Corrado Costa Paolo Febbi Federico Pallottino Massimo Cecchini Simone Figorilli Francesca Antonucci Paolo Menesatti 

机构地区：[1]Consiglio per la ricerca in agricoltura e l’analisi dell’economia agraria(CREA),Centro di ricerca Ingegneria e Trasformazioni Agroalimentari,Via della Pascolare 16,00015 Monterotondo scalo,Rome,Italy [2]Department of Agriculture and Forestry Science,Tuscia University,Via S.Camillo de Lellis snc,01100 Viterbo,Italy

出　　处：《International Journal of Agricultural and Biological Engineering》2019年第1期1-5,共5页国际农业与生物工程学报（英文）

基　　金：Part of this study was funded by the project“ALForLab”(PON03PE_00024_1)co-funded by the Italian National Operational Programme for Research and Competitiveness(PON R&C)2007-2013;through the European Regional Development Fund(ERDF)and the national resource Revolving Fund-Cohesion Action Plan(CAP)MIUR and project AGROENER(D.D.n.26329)funded by Italian Ministry of Agriculture,Food and Forestry Policies(MiPAAF).

摘　　要：Managing orchards requires delicate agricultural operations being typically carried out in narrow zones where the operators usually drive machineries under stress that could result in poor performance.In such conditions,the use of technology would help manage the machines to reduce the hazardous work and eventual damage to the plants.To safely drive a tractor,the driver needs to be aware of its surroundings,thus a stereovision system can provide helpful information.Stereo imaging has proven to be an effective three-dimensional vision system.Indeed,the range(or third coordinate)information is useful to detect the obstacle distances.Such distances,when detected during agricultural operations,could be used to assist the operator in driving the tractor at regular or variable working speeds and eventually to provide manufacturers useful indications to model the form of ROPS(roll over protection structure).This study aimed to verify the closeness of agreement between manual and stereo-image measurements,and thus to provide helpful information regarding safety and working purposes.The system used a custom low-cost dual web-camera in combination with an image analysis algorithm in order to automatically extract the information needed.Manual independent measurements were carried out using a metric tape(sensitivity 1 cm).A regular structure was used for the analysis:four rows of ten trees each one.Alternated red and blue paper markers were placed on the hazelnut trees(two per tree)of two couples of rows for enhanced visibility.For each couple of trees(one on the right,the other on the left),the four markers formed a trapezoid that was measured.The results of the analysis demonstrated that the stereo vision provided distance measurements with reasonable accuracy(error<5%)in the range of distances lower than 20 m.The resolution assessed for the developed video system is suitable for obtaining distance information in real scenes.This information could be used to assist drivers to operate agricultural machineries through narro

关 键 词：STEREOVISION precision agriculture digital agriculture HAZELNUT CANOPY ROPS ORCHARDS 

分 类 号：O17[理学—数学]