Research on a visual positioning method of paddy field weeding wheels based on laser rangefinder-camera calibration
Source abstract
Abstract
The positioning of paddy field weeding wheels is of great significance for compensating the operation deviation between the weeding wheel and the seedling row in paddy field mechanical weeding. In this paper, a visual positioning method for determining the three-dimensional coordinates of weeding wheels in the camera coordinate system is proposed. By fixing the laser rangefinder with the weeding wheel, the proposed method converts the positioning of weeding wheels into solving the relative pose relationship between the laser rangefinder and the camera. Then, based on the constraints of the laser spots on the AprilTag calibration plane, a nonlinear optimization model is established to obtain the relative pose parameters. In the experiment, two evaluation indicators were proposed to evaluate the calibration accuracy. The experimental results showed that the proposed visual positioning method of the weeding wheel can reach a mean positioning error of 2.766 mm and a mean pixel error of 7.161 pixels.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotics and Sensor-Based Localization · Advanced Measurement and Detection Methods · Optical measurement and interference techniques
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
College of Automobile and Traffic Engineering, Nanjing Forestry University 1 , Nanjing 210037, China
School of Mechanical Engineering, Southeast University 2 , Nanjing 211189, China
Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs 3 , Nanjing 210014, China
Funding
the Primary Research & Development Plan of Jiangsu Province of China · the Primary Research & Development Plan of Jiangsu Province
References (24)
Show source-provided references
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