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The aim of my work is allow a small field robot (Otto) to navigate along a colture row, preserving the integrity of the plants. This will happen thank to a binocular camera observing the area in front of the robot, and creating a coloured 3D point cloud, this work is part of another stage. On the other hand, my job is aimed at improving the navigation functionality. First the machine should be able to discriminate the points belonging to the soil from those belonging to the plants, all plants in a first iteration, i.e., both crop and weeds. The next step is, from such two large groups of points, to determine a motion plan that allows the robot to proceed along the crop row without damaging contact with the vegetation. A final step is to discriminate the points belonging to a single crop plant and thiose belonging to weeds.