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Vision-Based Speed and Yaw Angle Measurement System

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.org

Citation:  Pp. 212-220 in Automation Technology for Off-Road Equipment, Proceedings of the July 26-27, 2002 Conference (Chicago, Illinois, USA)  701P0502.(doi:10.13031/2013.10009)
Authors:   Kentaro Nishiwaki, Tatsushi Togashi, Koichi Amaha
Keywords:   Plant Position, Rice Fields, Vision sensor, Yawing angle, Vehicle speed

We propose a system that is able to detect vehicle speed and yaw angle based on vision sensors. In rice fields in Japan, rice is transplanted in an ordered grid pattern. We have already developed a vision system able to estimate plant positions with high precision based on this lattice layout. In this study, the inclination to the crop rows of vehicles (Yaw angle) was calculated from the crop position information acquired using our vision system. Next, two time lag images were compared and the speed of the vehicles was computed by tracing the motion of the same plant. Furthermore, the tracks of vehicles were calculated using these two sets of data. As a result of comparing the computed tracks with the position information obtained by a RTKGPS, when it was assumed that the RTK-GPS’s error was 0, the vehicle’s position was detectable within 30mm error.

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