2021 IEEE INTERNATIONAL WORKSHOP ON METROLOGY FOR AGRICULTURE AND FORESTRY, TRENTO-BOLZANO, ITALY ?, 03/11/2021-05/11/2021

Year: 2021

Type: conference-proceeding

Authors: A. Leanza, R. Galati, A. Milella, G. Reina

Keywords: agricultural robots,RGB-D sensors,terrain estimation

Natural terrain traversing is playing an increasingly
important role in service and field robotics to enable
the achievement of several tasks in the most disparate fields
of human activities, e.g. planetary explorations, nuclear site
decommissioning, precision farming and so forth.
In this research, a new method for terrain unevenness estimation
is proposed in order to increase the ability of an agricultural
bot to move autonomously in a countryside environment. By
the use of exteroceptive sensors, such as stereoscopic or RGB-D
cameras, soil surfaces can be acquired and then manipulated to
obtain a stochastic description of their geometry by means of the
Power Spectral Density (PSD)-based analysis, in order to infer
soil irregularities. This automatic ground unevenness estimation
is performed online during the motion, allowing safe management
of robot activities.