REAL-TIME SEGMENTATION OF PLANTS AND WEEDS

This paper describes a real-time implementation of an algorithm to seg ment plants, weeds, and soil in images used to control an autonomous c rop protection vehicle. We show how the segmentation module fits in to the overall system and mention previous work on other modules. We the n describe a segmentation algorithm and show how it is implemented on two digital signal processors (DSPs) controlled by a single transputer . We present timing information to show that the algorithm can provide data at 5 Hz, which is fast enough to control the vehicle. (C) 1998 A cademic Press.