基于机器视觉的农业车辆及机器人导航技术研究进展

doi:10.3778/j.issn.1002-8331.2411-0108

摘要/Abstract

摘要： 随着智能驾驶技术的发展，农业车辆和机器人自主导航技术成为当前研究热点，搭载机器视觉导航系统的农业车辆及机器人也广泛应用在农业生产任务中，但在复杂农业环境中的应用仍存在问题。为此，对农业视觉导航技术进行总结，详细论述了视觉导航图像采集技术；对基于图像分割和作物特征点检测的导航路径提取方法进行讨论，并分析了两种导航路径提取方法共同涉及的导航线拟合方法。最后，讨论了农业车辆及机器人视觉导航当前所面临的挑战和未来发展趋势，可为农业车辆及机器人视觉导航相关研究提供参考。

关键词: 农业车辆, 农业机器人, 机器视觉, 视觉导航, 导航路径提取, 导航线拟合

Abstract: With the development of intelligent driving technology, autonomous navigation technology of agricultural vehicles and robots has become a research hotspot. Agricultural vehicles and robots equipped with machine vision navigation systems are also widely used in agricultural production tasks, but there are still problems in the application of complex agricultural environments. Therefore, the agricultural visual navigation technology is summarized. Firstly, the visual navigation image acquisition technology is discussed in detail. Secondly, the navigation path extraction method based on image segmentation and crop feature point detection is discussed. The navigation line fitting method involved in the two navigation path extraction methods is analyzed. Finally, the current challenges and future development trends of agricultural vehicles and robot visual navigation are discussed, which can provide reference for the research of agricultural vehicles and robot visual navigation.

Key words: agricultural vehicle, agricultural robot, machine vision, visual navigation, navigation path extraction, navigation line fitting

张少侠, 闫建伟, 蒙超, 石国照, 吴锦涛. 基于机器视觉的农业车辆及机器人导航技术研究进展[J]. 计算机工程与应用, 2025, 61(12): 12-27.

ZHANG Shaoxia, YAN Jianwei, MENG Chao, SHI Guozhao, WU Jintao. Research Progress of Agricultural Vehicle and Robot Navigation Technology Based on Machine Vision[J]. Computer Engineering and Applications, 2025, 61(12): 12-27.

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