In this thesis Stefan investigates how cameras can be used for localization of an agricultural mobile robot. He focuses on relative measurement that can be used to determine where a weeding tool is operating relative a weed detection sensor. It incorporates downward-facing perspective cameras, forward-facing perspective cameras and omnidirectional cameras. Stefan shows how the camera’s ego-motion can be estimated to obtain not only the position in 3D but also the orientation. He also shows how line structures in the field can be used to navigate a robot along the rows.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:his-13408 |
| Date | January 2017 |
| Creators | Ericson, Stefan |
| Publisher | Högskolan i Skövde, Institutionen för ingenjörsvetenskap, Högskolan i Skövde, Forskningscentrum för Virtuella system, Skövde : University of Skövde |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Doctoral thesis, comprehensive summary, info:eu-repo/semantics/doctoralThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
| Relation | Dissertation Series ; 16 (2017) |
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