Journal article
Design of a vision-based sensor for autonomous pighouse cleaning
Department of Electrical Engineering, Technical University of Denmark1
Automation, Department of Electrical Engineering, Technical University of Denmark2
Image Analysis and Computer Graphics, Department of Informatics and Mathematical Modeling, Technical University of Denmark3
Department of Informatics and Mathematical Modeling, Technical University of Denmark4
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.
Language: | English |
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Year: | 2005 |
Pages: | 2005-2018 |
ISSN: | 16870433 and 11108657 |
Types: | Journal article |
ORCIDs: | Blanke, Mogens and Carstensen, Jens Michael |