Vision-Based Perception for Localization of Autonomous Agricultural Robots
Abstract: In this thesis Stefan investigates how cameras can be used for localization of an agricultural mobile robot. He focuses on relative measurement that can be used to determine where a weeding tool is operating relative a weed detection sensor. It incorporates downward-facing perspective cameras, forward-facing perspective cameras and omnidirectional cameras. Stefan shows how the camera’s ego-motion can be estimated to obtain not only the position in 3D but also the orientation. He also shows how line structures in the field can be used to navigate a robot along the rows.
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