关键词: 机器视觉, 辅助线, 垂直投影, 导航路径, ROI

Abstract: In terms of the problems of applicability and poor antiinterference of visual navigation path extraction methods for agricultural machines in different scenes, an auxiliary linebased visual navigation path extraction algorithm for agricultural machines was proposed. First, the equalized farmland image was grayed out using the 1.8G-R-0.8B color model to obtain an image with an obvious distinction between the target and the background. Secondly, the image noise was removed using the OTSU method of threshold segmentation and the morphological processing method of opening and closing operations on the binary image. Finally, the corresponding auxiliary line processing was performed according to the vertical projection method and combined with the improved ROI method to extract the region of interest and determine the navigation localization points, and then the leastsquares method was used to fit the localization points to obtain the navigation path. The simulation results and comparison showed that the Euclidean distance of the extracted path was 1 001.9, the path extraction accuracy was improved by 47.9% compared with the traditional Hough method, and the extraction time of the highresolution image was shortened by 79.6%, which could meet the requirements of navigation path extraction of agricultural machinery and had higher universality.

Key words: machine vision, auxiliary lines, vertical projection, navigation path, ROI