استخراج نقشه سه‌بعدی از محیط گلخانه و تشخیص و جداسازی گلدان‌ها با استفاده از بینایی استریو

نوع مقاله: مقاله پژوهشی

نویسندگان

1 استاد،گروه مکانیک بیوسیستم، دانشکده مهندسی فناوری، پردیس کشاورزی و منابع طبیعی، دانشگاه تهران، کرج، ایران

2 دانشجوی دکتری، گروه مکانیک بیوسیستم، دانشکده مهندسی فناوری، پردیس کشاورزی و منابع طبیعی، دانشگاه تهران، کرج، ایران

3 استاد، گروه مهندسی ماشینهای کشاورزی، دانشکده مهندسی و فناوری کشاورزی، پردیس کشاورزی و منابع طبیعی، دانشگاه تهران، کرج، ایران

4 دانشجوی سابق دکتری، گروه مکانیک بیوسیستم، دانشکده مهندسی فناوری، پردیس کشاورزی و منابع طبیعی

چکیده

تهیه نقشه از محیط گلخانه و تعیین موقعیت گلدان‌ها در این نقشه، که اصلی‌ترین موانع در محیط‌های کشاورزی خصوصاً گلخانه هستند، گامی ضروری در خودکار نمودن اغلب عملیات‌های کشاورزی است. در این تحقیق با استفاده از بینایی استریو به استخراج نقشه از محیط گلخانه و تشخیص و جداسازی گلدان‌ها در این نقشه پرداخته شد. برای برآوردن شدن این هدف از چارچوب راس و گره‌ها و اتصالات شبکه‌ای در این چارچوب استفاده شد. برای ارزیابی الگوریتم طراحی شده، میزان خطای موقعیت تخمین زده شده گلدان‌ها به وسیله الگوریتم با موقعیت واقعی گلدان‌ها، براساس فاصله اقلیدسی محاسبه شد. نتایج حاصل از این پژوهش نشان داد که 100 درصد گلدان‌ها شناسایی و تعیین موقعیت شدند. تخمین خطا در تعیین موقعیت گلدان‌ها دارای میانگین 056/0 متر و ریشه میانگین مربع خطای 0006/0 متر بود. همچنین، بیش‌ترین خطا در تخمین موقعیت گلدان‌ها، 137/0 متر و کم‌ترین مقدار خطا 005/0 متر بود.

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Extraction of a 3D Map of the Greenhouse Environment and Detection and Segmentation of Pots Using Stereo Vision

نویسندگان [English]

  • shahin rafiee 1
  • zahra khosrobeygi 2
  • Seyed Saeid Mohtasebi 3
  • Amin Nasiri 4
1 Professor, Department of Mechanics of biosystem, Faculty of Engineering & Technology, College of Agriculture & Natural Resources, University of Tehran, Karaj, Iran.
2 PHD student, Department of Mechanics of biosystem, Faculty of Engineering & Technology, College of Agriculture & Natural Resources, University of Tehran, Karaj, Iran.
3 Professor, Department of Agricultural Machinery Engineering, Faculty of Agricultural Engineering and Technology, University College of Agriculture and Natural Resources, University of Tehran, Karaj, Iran
4 Former Ph.D. student, Department of Mechanics of biosystem, Faculty of Engineering & Technology, College of Agriculture & Natural Resources, University of Tehran, Karaj, Iran.
چکیده [English]

Creating a map of the greenhouse environment and determine the position of the pots on this map, which are the main obstacles in agricultural environments, especially greenhouses, is an essential step in automating agricultural operations. In this research, using stereovision, the map from the greenhouse environment was extracted and the pots in this map were detected and segmented. To reach this goal, ROS framework, nodes and network connections in this framework, was used. To evaluate the designed algorithm, the error rate is calculated using Euclidean distance between estimated locations and actual locations of pots. The results of this study showed that 100% of the pots were identified and positioned. The evaluation results showed that the mean errors in estimating the position of the pots was 0.056 and Root mean squared error (RMSE) was 0.0006. Also, the maximum error in estimating the position of the pots was 0.137m and the minimum error was 0.005m. The results showed that the designed algorithm has a high accuracy in estimating the position of the pots

کلیدواژه‌ها [English]

  • Stereovision
  • Pot
  • ROS
  • Greenhouse
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