Navigation line detection based on robotic vision in natural vegetation-embraced environment

In order to detect navigation line for agricultural vehicles in natural vegetation-embraced environment, a method was presented based on robotic vision. Firstly, an improved region growing algorithm was introduced to segment path. Then the two edges of path were extracted and an array of points through the center was computed. Lastly, the guidance line for vehicles to follow was obtained by Hough transform. The method was also extended to forestry environments and tall-crop fields where planting is discretely spaced. Difference was that the two edges of a path were square-fitted to offset edge imperfections. Batch processing of images under Matlab shows logicalness and steadiness of this method and its extensive appliance in various scenarios.