Crop Row Detection System, Agricultural Machine Equipped With Crop Row Detection System, And Crop Row Detection Method

Abstract: This crop row detection system comprises: an imaging device that is attached to an agricultural machine and that photographs a ground surface on which the agricultural machine travels to acquire time-series color images of at least a portion of said ground surface; and a processing device which performs image processing on the time-series color images. The processing device: generates, from each of the time-series color images, a highlight image in which the color of a crop row to be detected is highlighted; generates, from the highlight image, a top view image which is seen from above the ground surface and in which classification is performed between first pixels that have a greater index value for the color of the crop row than a threshold value and second pixels having an index value less than the threshold value; and determines the position of edge lines for the crop row on the basis of the index value of the first pixels.

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