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Design and experiments with a SLAM system for low-density canopy environments in greenhouses based on an improved Cartographer framework

文献类型： 外文期刊

作者： Tan, Haoran 1 ; Zhao, Xueguan 2 ; Zhai, Changyuan 2 ; Fu, Hao 2 ; Chen, Liping 2 ; Yang, Minli 1 ;

作者机构： 1.China Agr Univ, Coll Engn, Beijing, Peoples R China

2.Beijing Acad Agr & Forestry Sci, Intelligent Equipment Res Ctr, Beijing, Peoples R China

3.Natl Engn Res Ctr Informat Technol Agr, Beijing, Peoples R China

4.Beijing PAIDE Sci & Technol Dev Co Ltd, Beijing, Peoples R China

关键词： mobile robot; lidar; simultaneous localization and mapping (SLAM); greenhouse; perception

期刊名称：FRONTIERS IN PLANT SCIENCE （ 影响因子：5.6； 五年影响因子：6.8 ）

ISSN： 1664-462X

年卷期： 2024 年 15 卷

页码：

收录情况： SCI

摘要： To address the problem that the low-density canopy of greenhouse crops affects the robustness and accuracy of simultaneous localization and mapping (SLAM) algorithms, a greenhouse map construction method for agricultural robots based on multiline LiDAR was investigated. Based on the Cartographer framework, this paper proposes a map construction and localization method based on spatial downsampling. Taking suspended tomato plants planted in greenhouses as the research object, an adaptive filtering point cloud projection (AF-PCP) SLAM algorithm was designed. Using a wheel odometer, 16-line LiDAR point cloud data based on adaptive vertical projections were linearly interpolated to construct a map and perform high-precision pose estimation in a greenhouse with a low-density canopy environment. Experiments were carried out in canopy environments with leaf area densities (LADs) of 2.945-5.301 m(2)/m(3). The results showed that the AF-PCP SLAM algorithm increased the average mapping area of the crop rows by 155.7% compared with that of the Cartographer algorithm. The mean error and coefficient of variation of the crop row length were 0.019 m and 0.217%, respectively, which were 77.9% and 87.5% lower than those of the Cartographer algorithm. The average maximum void length was 0.124 m, which was 72.8% lower than that of the Cartographer algorithm. The localization experiments were carried out at speeds of 0.2 m/s, 0.4 m/s, and 0.6 m/s. The average relative localization errors at these speeds were respectively 0.026 m, 0.029 m, and 0.046 m, and the standard deviation was less than 0.06 m. Compared with that of the track deduction algorithm, the average localization error was reduced by 79.9% with the proposed algorithm. The results show that our proposed framework can map and localize robots with precision even in low-density canopy environments in greenhouses, demonstrating the satisfactory capability of the proposed approach and highlighting its promising applications in the autonomous navigation of agricultural robots.

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