Motion vision based structure estimation in forest environment

Authors:
Jakke Kulovesi
Affiliations:
Department of Automation and Systems Technology, Helsinki University of Technology, Finland
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

Motion vision can be used to determine world structure from a video sequence. In harvester machine automation, the potential is that trees could be measured from a distance. Based on the measurements, tree cutting could be optimized and harvester automation increased, resulting in higher resource utilization efficiency. However, a natural environment poses challenges to any computer vision task. This paper presents computer vision algorithms that are applied to a forest environment. The results show that dense optical flow can be computed from a real-world forest data accurately enough as to enable instantaneous dense structure estimates of the visible image scene.