{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,27]],"date-time":"2025-12-27T07:28:39Z","timestamp":1766820519294,"version":"build-2065373602"},"reference-count":22,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2011,4,6]],"date-time":"2011-04-06T00:00:00Z","timestamp":1302048000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>One of the most important parts of an autonomous robot is to establish the path by which it should navigate in order to successfully achieve its goals. In the case of agricultural robotics, a procedure that determines this desired path can be useful. In this paper, a new virtual sensor is introduced in order to classify the elements of an orange grove. This proposed sensor will be based on a color CCD camera with auto iris lens which is in charge of doing the captures of the real environment and an ensemble of neural networks which processes the capture and differentiates each element of the image. Then, the Hough\u2019s transform and other operations will be applied in order to extract the desired path from the classification performed by the virtual sensory system. With this approach, the robotic system can correct its deviation with respect to the desired path. The results show that the sensory system properly classifies the elements of the grove and can set trajectory of the robot.<\/jats:p>","DOI":"10.3390\/s110404086","type":"journal-article","created":{"date-parts":[[2011,9,27]],"date-time":"2011-09-27T20:09:10Z","timestamp":1317154150000},"page":"4086-4103","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["A New Approach to Visual-Based Sensory System for Navigation into Orange Groves"],"prefix":"10.3390","volume":"11","author":[{"given":"Joaquin","family":"Torres-Sospedra","sequence":"first","affiliation":[{"name":"Department of Engineering and Computer Science, Universitat Jaume I, Avda sos Baynat S\/N, E12071, Castellon, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Patricio","family":"Nebot","sequence":"additional","affiliation":[{"name":"Department of Engineering and Computer Science, Universitat Jaume I, Avda sos Baynat S\/N, E12071, Castellon, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2011,4,6]]},"reference":[{"key":"ref_1","unstructured":"Adams, M, Zhang, S, and Xie, L (May, January 26). Particle filter based outdoor robot localization using natural features extracted from laser scanners. New Orleans, LA, USA."},{"key":"ref_2","unstructured":"Procopio, M, Mulligan, J, and Grudic, G (November, January 29). Long-term learning using multiple models for outdoor autonomous robot navigation. San Diego, CA, USA."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"179","DOI":"10.1007\/978-3-540-77457-0_17","article-title":"Outdoor Mapping and Navigation Using Stereo Vision","volume":"39","author":"Konolige","year":"2008","journal-title":"Springer Tracts in Advanced Robotics"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Bishop, CM (1995). Neural Networks for Pattern Recognition, Oxford University Press, Inc.","DOI":"10.1093\/oso\/9780198538493.001.0001"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"356","DOI":"10.1080\/095400996116811","article-title":"Bootstrapping with Noise: An Effective Regularization Technique","volume":"8","author":"Raviv","year":"1996","journal-title":"Connect. Sci"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"385","DOI":"10.1080\/095400996116839","article-title":"Error Correlation and Error Reduction in Ensemble Classifiers","volume":"8","author":"Tumer","year":"1996","journal-title":"Connect. Sci"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Kuncheva, LI (2004). Combining Pattern Classifiers: Methods and Algorithms, Wiley-Interscience.","DOI":"10.1002\/0471660264"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1007\/BF00058655","article-title":"Bagging Predictors","volume":"24","author":"Breiman","year":"1996","journal-title":"Mach. Learn"},{"key":"ref_9","unstructured":"Freund, Y, and Schapire, RE (1996, January 3\u20136). Experiments with a New Boosting Algorithm. Bari, Italy."},{"key":"ref_10","first-page":"801","article-title":"Arcing classifiers","volume":"26","author":"Breiman","year":"1998","journal-title":"Ann. Stat"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Kuncheva, LI, and Whitaker, CJ (2002, January 24\u201326). Using diversity with three variants of boosting: Aggressive, Conservative and Inverse. Cagliari, Italy. Lecture Notes in Computer Science.","DOI":"10.1007\/3-540-45428-4_8"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Windeatt, T, and Roli, F (2003, January 11\u201313). Boosting with Averaged Weight Vectors. Multiple Classifier Systems, Guilford, UK. Lecture Notes in Computer Science.","DOI":"10.1007\/3-540-44938-8"},{"key":"ref_13","first-page":"231","article-title":"Neural Network Ensembles, Cross Validation, and Active Learning","volume":"7","author":"Tesauro","year":"1995","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref_14","unstructured":"Parmanto, B, Munro, PW, and Doyle, HR (1996). Advances in Neural Information Processing Systems, MIT Press."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"405","DOI":"10.1080\/095400996116848","article-title":"Reducing Variance of Committee Prediction with Resampling Techniques","volume":"8","author":"Parmanto","year":"1996","journal-title":"Connect. Sci"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"429","DOI":"10.1016\/S0167-8655(99)00012-4","article-title":"Soft combination of neural classifiers: A comparative study","volume":"20","author":"Verikas","year":"1999","journal-title":"Pattern Recog. Lett"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1007\/s10514-006-9000-0","article-title":"The DARPA PerceptOR evaluation experiments","volume":"22","author":"Krotkov","year":"2007","journal-title":"Auton. Robots"},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Scarfe, A, Flemmer, R, Bakker, H, and Flemmer, C (2009, January 10\u201312). Development of an autonomous kiwifruit picking robot. Wellington, New Zealand.","DOI":"10.1109\/ICARA.2000.4804023"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Kittler, J (2000). Multiple Classifier Systems, in Lecture Notes in Compter Science.","DOI":"10.1007\/3-540-48219-9"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"269","DOI":"10.1007\/s10846-010-9402-2","article-title":"Neural Network Based Terrain Classification Using Wavelet Features","volume":"59","author":"Sung","year":"2010","journal-title":"J. Intell. Robot. Syst"},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Fern\u00e1ndez-Redondo, M, Hern\u00e1ndez-Espinosa, C, and Torres-Sospedra, J (2004, January 17\u201321). Multilayer Feedforward Ensembles for Classification Problems. Montreal, QC, Canada. LNCS.","DOI":"10.1007\/978-3-540-30499-9_114"},{"key":"ref_22","unstructured":"Hern\u00e1ndez-Espinosa, C, Torres-Sospedra, J, and Fern\u00e1ndez-Redondo, M (August, January 31). New Experiments on Ensembles of Multilayer Feedforward for Classification Problems. Montreal, QC, Canada."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/11\/4\/4086\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:55:45Z","timestamp":1760219745000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/11\/4\/4086"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,4,6]]},"references-count":22,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2011,4]]}},"alternative-id":["s110404086"],"URL":"https:\/\/doi.org\/10.3390\/s110404086","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2011,4,6]]}}}