CREATION OF TWO-DIMENSIONAL GREENHOUSE ENVIRONMENT MAP USING STEREO VISION

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NASIRI RAMIN; MOBLI HOSSEIN; HOSSEINPOUR SOLEIMAN; RAFIEE SHAHIN

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Journal: Iranian Journal of Biosystems Engineering Year:2017 | Volume:47 | Issue:4 Page(s): 689-700

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Title

CREATION OF TWO-DIMENSIONAL GREENHOUSE ENVIRONMENT MAP USING STEREO VISION

Author(s)

NASIRI RAMIN | MOBLI HOSSEIN | HOSSEINPOUR SOLEIMAN | RAFIEE SHAHIN | Issue Writer Certificate

Keywords

CULTIVATION PLATFORMQ1

POTQ1

THREE-DIMENSIONAL COORDINATES VISUAL ODOMETRYQ1

Abstract

It is possible to prepare a two-dimensional map of a greenhouse for automatic control to perform such operations as spraying and watering through locating the CULTIVATION PLATFORMs and POTs. Through getting disparity image from rectified stereo images and transferring the data to 3D-space, point cloud model of the environment was constructed. Then by projecting points to XZ plane and putting local maps together, based upon visual odometry, two-dimensional greenhouse environment map of the greenhouse was constructed. In order to detect and separate the CULTIVATION PLATFORMs and POTs and as well to localize the corner of platforms and position of the POTs in the framework of two-dimensional point, three-dimensional coordinates of environment components were employed. Results obtained indicated that the proposed algorithm can detect 100.26 m or 94.05% of total length of the platform. Also, through the algorithm it was possible to detect 83.33% of the corners of the CULTIVATION PLATFORMs with an average error of 0.09 meter and mean squared error of 0.009 meter. From the two-dimensional map of the greenhouse, became evident that the proposed algorithm benefits from the detection and localization capability of 92.10% of the POTs with an average error of 0.07 meter and mean squared error of 0.006 meter.

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APA: Copy

NASIRI, RAMIN, MOBLI, HOSSEIN, HOSSEINPOUR, SOLEIMAN, & RAFIEE, SHAHIN. (2017). CREATION OF TWO-DIMENSIONAL GREENHOUSE ENVIRONMENT MAP USING STEREO VISION. IRANIAN JOURNAL OF BIOSYSTEMS ENGINEERING (IRANIAN JOURNAL OF AGRICULTURAL SCIENCES), 47(4), 689-700. SID. https://sid.ir/paper/144385/en

Vancouver: Copy

NASIRI RAMIN, MOBLI HOSSEIN, HOSSEINPOUR SOLEIMAN, RAFIEE SHAHIN. CREATION OF TWO-DIMENSIONAL GREENHOUSE ENVIRONMENT MAP USING STEREO VISION. IRANIAN JOURNAL OF BIOSYSTEMS ENGINEERING (IRANIAN JOURNAL OF AGRICULTURAL SCIENCES)[Internet]. 2017;47(4):689-700. Available from: https://sid.ir/paper/144385/en

IEEE: Copy

RAMIN NASIRI, HOSSEIN MOBLI, SOLEIMAN HOSSEINPOUR, and SHAHIN RAFIEE, “CREATION OF TWO-DIMENSIONAL GREENHOUSE ENVIRONMENT MAP USING STEREO VISION,” IRANIAN JOURNAL OF BIOSYSTEMS ENGINEERING (IRANIAN JOURNAL OF AGRICULTURAL SCIENCES), vol. 47, no. 4, pp. 689–700, 2017, [Online]. Available: https://sid.ir/paper/144385/en

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