Orchard Vision Navigation Line Extraction Based on YOLOv8-Trunk Detection

• Published in: IEEE access Vol. 12; pp. 104126 - 104137
• Main Authors: Cao, Ziang, Gong, Changzhi, Meng, Junjie, Liu, Lu, Rao, Yuan, Hou, Wenhui
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Ablation; Autonomous navigation; Convolutional neural networks; EMA; Feature extraction; least square method; Least squares approximations; Lion; MPDIoU; Navigation; navigation line extraction; Object segmentation; Robot kinematics; Robots; Robustness; trunk detection; Trunk networks; YOLO; YOLOv8

Visual navigation is the pivotal technology for enabling autonomous operations of orchard robots. To obtain orchard navigation lines, the robot needs to quickly identify the positions of tree trunks. For this, we proposed a detection model called YOLOv8-Trunk in this study. Based on the detection re...