Research on Navigation Line Extraction Algorithm Based on Onion Ridge Edge Features

Abstract

Aiming at the phenomenon that the existing shallot harvester cannot realize the automatic operation in the harvesting process of green onion, a navigation path acquisition method of green onion harvester is proposed, which is applied to the automatic driving of the shallot harvester. Firstly, the original image is grayed by G-R algorithm, and then the gray image is segmented by maximum inter-class variance method to obtain binaryized image; secondly, the morphological operation is applied to the binary map for noise reduction processing and hole filling to obtain the green onion ridge with good connectivity; then, according to the geometric characteristics of the green onion ridge, the left and right edge feature points of the green onion ridge are detected, and the midpoint of the left and right edge feature points is taken as the navigation key point; finally, the navigation key point is fitted with the least squares method. Gets the navigation line for the green onion ridge. Experimental results show that the proposed algorithm takes about 71ms to process an image with a resolution of 450 pixels and 330 pixels, and the average error angle of the navigation line is 0.649°. The algorithm can accurately and quickly extract the navigation line of the green onion ridge, and can provide accurate navigation information for the automatic driving of the green onion harvester.