Design of a Vision-Based Sensor for Autonomous Pig House Cleaning

Autor: Zhang Guo-Qiang, Carstensen Jens Michael, Braithwaite Ian, Blanke Mogens
Jazyk: angličtina
Rok vydání: 2005
Předmět:
Zdroj: EURASIP Journal on Advances in Signal Processing, Vol 2005, Iss 13, p 473479 (2005)
Druh dokumentu: article
ISSN: 1687-6172
1687-6180
DOI: 10.1155/ASP.2005.2005
Popis: Current pig house cleaning procedures are hazardous to the health of farm workers, and yet necessary if the spread of disease between batches of animals is to be satisfactorily controlled. Autonomous cleaning using robot technology offers salient benefits. This paper addresses the feasibility of designing a vision-based system to locate dirty areas and subsequently direct a cleaning robot to remove dirt. Novel results include the characterisation of the spectral properties of real surfaces and dirt in a pig house and the design of illumination to obtain discrimination of clean from dirty areas with a low probability of misclassification. A Bayesian discriminator is shown to be efficient in this context and implementation of a prototype tool demonstrates the feasibility of designing a low-cost vision-based sensor for autonomous cleaning.
Databáze: Directory of Open Access Journals
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