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Position estimation method using artificial landmarks and omnidirectional vision.

机译：利用人工地标和全向视觉的位置估计方法。

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The development of autonomous navigation systems for agricultural vehicles is an important endeavor. We propose a position estimation method based on artificial landmarks and omnidirectional vision for agricultural vehicle navigation to augment GPS-based solutions. The method sets four red artificial landmarks as a rectangle in the corners of an operating area and estimates an absolute position relative to the landmark-based coordinate system on the ground. This article introduces an algorithm to extract the landmarks and estimate the directional angles of the landmarks using only one omnidirectional image. Camera location was estimated based on the directional angles of the landmarks. Experiments were conducted under natural sunlight in a 50 m x 50 m square area to verify the method. Experimental results showed that the maximum and mean position errors were approximately 46.96 and 31.99 cm, respectively. Camera tilt experiments showed that the tilt angle had some effect on errors, but not significantly, and it was not necessary to compensate for the errors caused by camera tilt on uneven ground. In conclusion, this method is feasible to augment GPS-based solutions for agricultural vehicle navigation.
机译：农业车辆自动导航系统的开发是一项重要的工作。我们提出了一种基于人工地标和全向视觉的位置估计方法，用于农用车辆导航，以增强基于GPS的解决方案。该方法将四个红色人工地标设置为操作区域角落中的矩形，并估计相对于地面上基于地标的坐标系的绝对位置。本文介绍了一种仅使用一个全向图像提取地标并估计地标方向角的算法。根据地标的方向角估算摄像机的位置。在50 m x 50 m正方形的自然阳光下进行实验以验证该方法。实验结果表明，最大和平均位置误差分别约为46.96和31.99 cm。相机倾斜实验表明，倾斜角度对误差有一定影响，但影响不大，因此无需补偿由于相机倾斜在不平坦地面上而引起的误差。总之，该方法对于增强基于GPS的农用车辆导航解决方案是可行的。

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