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Development of a prototype robot and fast path-planning algorithm for static laser weeding

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Figure

Fig. 1. The laser weeding robot.
Fig. 3. Steering system: (a) extending-retracting linkage mechanism; (b) diagram of steering system; (c) linear actuator mounting
Fig. 5. Image processing protocol: (a) original photo; (b) using colour training to extract green plants from the background and get the binary image; (c) then filtering noise and filling holes of (b); (d) eroding of (c) until weeds disappeared; (e) dilati
Fig. 6. Processing results of the algorithm based on shape descriptors: (a) original picture; (b) solidity and compactness results of dicotyledon
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