农业尺度下UGV几何无特征视觉速度研究

IF 0.9 Q4 ROBOTICS

Journal of Robotics and Mechatronics Pub Date : 2021-12-20 DOI:10.20965/jrm.2021.p1255

S. Sakai, Daiki Nakabayashi

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引用次数: 0

摘要

本文讨论了一种基于摄像机的农业规模无人地面车辆速度估计方法。提出的基于概念的方法不需要任何几何特征，只关注捕获图像之间的映射。本文提供了三个先导实验。首先，我们通过现场实验验证了所提出概念的一个假设。其次，我们通过一组数值和实验室实验来验证验证。第三，通过现场试验验证了理论的正确性。通过实验验证了映射表示的存在性和敏感性，从而证实了所提概念的可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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On the Geometric Featureless Visual Velocity of UGV in an Agriculture Scale

The paper discusses a camera-based velocity estimation for unmanned ground vehicles in an agriculture scale. The proposed concept-based method does not require any geometric feature and focuses on a mapping between the captured images only. The paper provides three pilot experiments. First, we check an assumption of the proposed concept by a field experiment. Second, we check the verification by a set of numerical and laboratory experiments. Third, we check the verification by the field experiment. In the sense that the existence and sensitivity of a representation of the mapping are verified experimentally, the feasibility of the proposed concept is confirmed.

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来源期刊

Journal of Robotics and Mechatronics ROBOTICS-

CiteScore

2.20

自引率

36.40%

发文量

134

期刊介绍： First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.