Hough-transform-based vision algorithm for crop row detection of an automated agricultural vehicle

Finding a pathway between crop rows is essential for automated guidance of some agricultural vehicles. The research reported in this paper developed a vision-based method for detecting crop rows. This method applied the Hough transform and connectivity analysis to process images of a vehicle's forward view and to use them to find the appropriate pathway in the field. The Hough transform was used to detect crop rows and the connectivity analysis was applied to identify the most suitable path from all possible choices. This system was implemented in an agricultural tractor and tested in both laboratory and field experiments. The methodology devised overcame image noise problems and successfully determined the proper trajectory for the tractor.