| Resumen |
Autonomous mobile vehicles are becoming commoner in outdoor scenarios for agricultural applications. They must be equipped with a robot navigation system for sensing, mapping, localization, path planning, and obstacle avoidance. In autonomous vehicles, safety becomes a major challenge where unexpected obstacles in the working area must be conveniently addressed. Of particular interest are, people or animals crossing in front of the vehicle or fixed/moving uncatalogued elements in specific positions. Detection of unexpected obstacles or elements on video sequences acquired with a machine vision system on-board a tractor moving in cornfields makes the main contribution to this research. We propose a new strategy for automatic video analysis to detect static/dynamic obstacles in agricultural environments via spatial-temporal analysis. At a first stage obstacles are detected by using spatial information based on spectral colour analysis and texture data. At a second stage temporal information is used to detect moving objects/obstacles at the scene, which is of particular interest in camouflaged elements within the environment. A main feature of our method is that it does not require any training process. Another feature of our approach consists in the spatial analysis to obtain an initial segmentation of interesting objects; afterwards, temporal information is used for discriminating between moving and static objects. To the best of our knowledge in the field of agricultural imag |
