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Automatic Navigation with Stereo Disparity

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

Citation:  Paper number  033113,  2003 ASAE Annual Meeting . (doi: 10.13031/2013.14061) @2003
Authors:   Francisco Rovira-Más, Qin Zhang, John F. Reid
Keywords:   Stereovision, Autonomous navigation, Disparity, 3D coordinates

Visual perception is a key source of information for autonomous navigation. Stereoscopic vision improves one-plane vision by adding the third dimension, depth, to attain a more accurate localization of objects within the sensed scene. This research used a compact stereo camera to find a path from crop rows in an agricultural field to support automatic vehicle guidance. Stereo disparity was obtained from the segmentation of the obtained stereo images. Linear regression was applied and a target point was selected from the central path determined by the combination of the fit lines. A base rule to merge lines from different windows was implemented. The 3D coordinates of the target point were computed by stereo analysis. This research has proven that stereovision has a great potential for autonomous navigation.