Design of a vision-based sensor for autonomous pighouse cleaning

Ian David Braithwaite, Mogens Blanke, Guo-Quiang Zhang, Jens Michael Carstensen

Research output: Contribution to journalJournal articleResearchpeer-review

Abstract

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.
Original languageEnglish
JournalEURASIP Journal on Applied Signal Processing
Issue number13
Pages (from-to)2005-2018
ISSN1110-8657
Publication statusPublished - 2005

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