Check out the video1, of our robot following this approach to navigate on a real multi lace row-crop field (beans field).

wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64$
sudo mv cuda-ubuntu1804.pin /etc/apt/preferences.d/cuda-repository-pin-600
wget https://developer.download.nvidia.com/compute/cuda/10.2/Prod/local_install$
sudo dpkg -i cuda-repo-ubuntu1804-10-2-local-10.2.89-440.33.01_1.0-1_amd64.deb
sudo apt-key add /var/cuda-repo-10-2-local-10.2.89-440.33.01/7fa2af80.pub
sudo apt-get update
sudo apt-get -y install cuda

• OpenCV == 3.3.0.10
  • pip install opencv-python==3.3.0.10
  • pip install opencv-contrib-python==3.3.0.10
• ROS Melodic
• itertools
• scipy >= 1.5.2
• numpy >= 1.19.9

navigate to your catkin workspace folder, e.g.:

cd catkin_ws/

compile:

rm -r build/
rm -r devel/
catkin_make

source setup file:

source ./devel/setup.bash

launch main script:

roslaunch visual_multi_crop_row_navigation vs_navigation.py

• Thorvald Platfrom package Thorvald Saga

• ROS Melodic

• python packages:

    sudo apt-get install python-catkin-tools python3-dev python3-catkin-pkg-modules python3-numpy python3-yaml ros-melodic-cv-bridge python3-opencv
    python3 -m pip install scikit-build scikit-learn laspy pandas
  

• build CV_Bridge for python3:

    cd catkin_ws
    git clone https://github.com/ros-perception/vision_opencv.git src/vision_opencv
  

  Find version:

    sudo apt-cache show ros-melodic-cv-bridge | grep Version
    Version: 1.12.8-0xenial-20180416-143935-0800
  

  Checkout right version in git repo. In our case it is 1.12.8

    cd src/vision_opencv/
    git checkout 1.12.8
    cd ../../
  

  build

    catkin_make --cmake-args \
        -DCMAKE_BUILD_TYPE=Release \
        -DPYTHON_EXECUTABLE=/usr/bin/python3 \
        -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m \
        -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
  

if you use this project in your recent works please refernce to it by:

@article{ahmadi2021towards,
  title={Towards Autonomous Crop-Agnostic Visual Navigation in Arable Fields},
  author={Ahmadi, Alireza and Halstead, Michael and McCool, Chris},
  journal={arXiv preprint arXiv:2109.11936},
  year={2021}
}

@inproceedings{ahmadi2020visual,
  title={Visual servoing-based navigation for monitoring row-crop fields},
  author={Ahmadi, Alireza and Nardi, Lorenzo and Chebrolu, Nived and Stachniss, Cyrill},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={4920--4926},
  year={2020},
  organization={IEEE}
}

This work has been supported by the German Research Foundation under Germany’s Excellence Strategy, EXC-2070 - 390732324 (PhenoRob) and Bonn AgRobotics Group