Navigation Route Mapping for Harvesting Robots in Vineyards Using UAV-based Remote Sensing

摘要

This work deals with the problem of extracting the route map that needs a harvesting robot in order to navigate between the crop rows in a vineyard. The navigation route mapping is computed by algorithmic processing the RGB imagery acquired by an unmanned aerial vehicle (UAV). The proposed methodology applies simple machine vision methods and it is able to deliver the robot's navigation route map in real-time with high tolerance to missing plants/weeds as well as with high accuracy.