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Crop Row Detection in Maize for Developing Navigation Algorithms Under Changing Plant Growth Stages

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Book cover Robot 2015: Second Iberian Robotics Conference

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 417))

Abstract

To develop robust algorithms for agricultural navigation, different growth stages of the plants have to be considered. For fast validation and repeatable testing of algorithms, a dataset was recorded by a 4 wheeled robot, equipped with a frame of different sensors and was guided through maize rows. The robot position was simultaneously tracked by a total station, to get precise reference of the sensor data. The plant position and parameters were measured for comparing the sensor values. A horizontal laser scanner and corresponding total station data was recorded for 7 times over a period of 6 weeks. It was used to check the performance of a common RANSAC row algorithm. Results showed the best heading detection at a mean growth height of 0.268 m.

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Author information

Authors and Affiliations

  1. Institute of Agricultural Engineering, University of Hohenheim, Garbenstr. 9, 70599, Stuttgart, Germany

    David Reiser, Manuel Vázquez Arellano, Hans W. Griepentrog & Dimitris S. Paraforos

  2. Laboratorio de Propiedades Físicas (LPF)-TAGRALIA, Technical University of Madrid, 28040, Madrid, Spain

    Garrido Miguel

Authors
  1. David Reiser
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  2. Garrido Miguel
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  3. Manuel Vázquez Arellano
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  4. Hans W. Griepentrog
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  5. Dimitris S. Paraforos
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Corresponding author

Correspondence to David Reiser .

Editor information

Editors and Affiliations

  1. Info Syst Dept;Campus de Azurém, University of Minho, Guimarães, Portugal

    Luís Paulo Reis

  2. Electrical and Computer Engineering Dept, University of Porto, Porto, Portugal

    António Paulo Moreira

  3. Instituto Superior Tecnico - Torre Norte, University of Lisboa, Lisboa, Portugal

    Pedro U. Lima

  4. Engineering Dept., E. Ada Byron, Univ of Zaragoza, Computer & Systems, Zaragoza, Spain

    Luis Montano

  5. Automatic Control and Systems Eng. Dept., University of Malaga, Superior Technical, Málaga, Spain

    Victor Muñoz-Martinez

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Reiser, D., Miguel, G., Arellano, M.V., Griepentrog, H.W., Paraforos, D.S. (2016). Crop Row Detection in Maize for Developing Navigation Algorithms Under Changing Plant Growth Stages. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham. https://doi.org/10.1007/978-3-319-27146-0_29

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  • DOI: https://doi.org/10.1007/978-3-319-27146-0_29

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-27145-3

  • Online ISBN: 978-3-319-27146-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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