Rosana G. Moreira, Editor-in-Chief; Texas A&M UniversityThis is a paper from International Commission of Agricultural Engineering (CIGR, Commission Internationale du Genie Rural) E-Journal Volume 9 (2007): Autonomous Guidance of a Corn Harvester using Stereo Vision. Manuscript ATOE 07 013. Vol. IX. July, 2007

Han, S.

Reid, J. F.

Rovira-Mas, F.

Wei, J.

The growing demand for applications in Precision Agriculture has been proportional to the
emergent interest in automatic guidance of agricultural machines. The difficult, and at the same
time strenuous, task of driving a harvester during the prolonged working days of the harvesting
season justifies the special attention paid to this technology. The development of Global
Navigation Satellite Systems has meant an important push for autonomous navigation, especially
in the case of off-road vehicles. However, experience has shown that automatic guidance inside
the tight arrangement of crop rows is difficult to achieve unless local positioning sensors take
part in the localization unit of auto-steered machines. This research develops a perception engine
based on stereoscopic vision to detect the cut-uncut edge of corn during harvesting operations.
The stereo camera was mounted on the head of an agricultural combine. The algorithm
implemented was capable of finding the edge of corn, allowing the system to automatically guide
the combine at regular harvesting speeds

Rovira-Más, F.

Reid, J. F

Agricultural Engineering International (E-Journal, CIGR - International Commission of Agricultural Engineering)

English

Autonomous Guidance of a Corn Harvester using Stereo Vision

eCommons@Cornell

The growing demand for applications in Precision Agriculture has been proportional to the emergent interest in automatic guidance of agricultural machines. The difficult, and at the same time strenuous, task of driving a harvester during the prolonged working days of the harvesting season justifies the special attention paid to this technology. The development of Global Navigation Satellite Systems has meant an important push for autonomous navigation, especially in the case of off-road vehicles. However, experience has shown that automatic guidance inside the tight arrangement of crop rows is difficult to achieve unless local positioning sensors take part in the localization unit of auto-steered machines. This research develops a perception engine based on stereoscopic vision to detect the cut-uncut edge of corn during harvesting operations. The stereo camera was mounted on the head of an agricultural combine. The algorithm implemented was capable of finding the edge of corn, allowing the system to automatically guide the combine at regular harvesting speeds

Autonomous Guidance of a Corn Harvester using Stereo Vision

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Agricultural Engineering International (E-Journal, CIGR - International Commission of Agricultural Engineering)

eCommons@Cornell

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