Orchard mapping and mobile robot localisation using on-board camera and laser scanner data fusion – Part A: tree detection
Article
Article Title | Orchard mapping and mobile robot localisation using on-board camera and laser scanner data fusion – Part A: tree detection |
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ERA Journal ID | 41630 |
Article Category | Article |
Authors | Shalal, Nagham (Author), Low, Tobias (Author), McCarthy, Cheryl (Author) and Hancock, Nigel (Author) |
Journal Title | Computers and Electronics in Agriculture |
Journal Citation | 119, pp. 254-266 |
Number of Pages | 13 |
Year | 2015 |
Publisher | Elsevier |
Place of Publication | Netherlands |
ISSN | 0168-1699 |
Digital Object Identifier (DOI) | https://doi.org/10.1016/j.compag.2015.09.025 |
Web Address (URL) | http://www.sciencedirect.com/science/article/pii/S0168169915003002 |
Abstract | Trees in orchards are natural landmarks providing suitable cues for mobile robot localisation as they are nominally planted in straight and parallel rows. This paper presents a novel tree trunk detection algorithm using a camera and laser scanner data fusion to enhance the detection capability. The algorithm detects the trees in the orchard and discriminates between trees and non-tree objects (e.g. posts and tree supports). The laser scanner is used to detect the edge points and determine the width of the tree trunks and non-tree objects, while the camera images are used to verify the colour and the parallel edges of the tree trunks and non-tree objects. The algorithm automatically adjusts the colour detection parameters after each test which shown to increase the detection accuracy. Experimental tests were conducted with a small robot platform in a real orchard environment to evaluate the performance of the tree trunk detection algorithm under two broad illumination conditions (sunny and cloudy). The algorithm was able to detect the tree trunks and discriminate between trees and non-tree objects with detection accuracy of 96.64% showing that the fusion of both vision and laser scanner technologies produced robust tree trunk detection. |
Keywords | tree detection; computer vision; laser scanner; data fusion; mobile robot; orchard |
Contains Sensitive Content | Does not contain sensitive content |
ANZSRC Field of Research 2020 | 400799. Control engineering, mechatronics and robotics not elsewhere classified |
Public Notes | Files associated with this item cannot be displayed due to copyright restrictions. |
Byline Affiliations | National Centre for Engineering in Agriculture |
Institution of Origin | University of Southern Queensland |
https://research.usq.edu.au/item/q365z/orchard-mapping-and-mobile-robot-localisation-using-on-board-camera-and-laser-scanner-data-fusion-part-a-tree-detection
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