Obstacle avoidance for orchard vehicle trinocular vision system based on coupling of geometric constraint and virtual force field method

作者：

Highlights：

• A trinocular vision system is set up for orchard obstacle avoidance.

• Grayscale morphology filtering is used for trunk regions enhancement.

• Optical flow method is used for trunk regions prediction.

• Coupling geometric constraint and VFF method for obstacle avoidance.

摘要

•A trinocular vision system is set up for orchard obstacle avoidance.•Grayscale morphology filtering is used for trunk regions enhancement.•Optical flow method is used for trunk regions prediction.•Coupling geometric constraint and VFF method for obstacle avoidance.

论文关键词：Trinocular vision,Orchard vehicle,Row detection,Obstacle detection,Obstacle avoidance algorithm

论文评审过程：Received 8 December 2020, Revised 28 July 2021, Accepted 8 November 2021, Available online 14 November 2021, Version of Record 24 November 2021.

论文官网地址：https://doi.org/10.1016/j.eswa.2021.116216