Abstract
Environment perception is an important capability for fully autonomous operation of agricultural machinery. High-precision work requires perception systems that are able to locate objects with high and specified accuracy. In this paper, we present an object detection and tracking system in a global coordinate frame based on 2D LiDAR data and RTK-GNSS positioning. The LiDARs and the RTK-GNSS device are installed on a tractor that is moving while the data is recorded. The final mapping result is compared to an RTK-GNSS based ground truth measurement of the object positions. For a test setup with four objects on a clover field, the average object positioning accuracy of the LiDAR system was determined to be 0.135 m (CEP50) and the worst case accuracy was 0.178m (CEP50). The preliminary results from this study can be used as a basis for determining requirements for safety margins when using this system for autonomous driving.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.