With the color and luminance difference of wheat field and outside the field, the position of field edge and the candidate points of it could be detected; the slope of the field-edge was calculated by using passing a known point Hough transform.

• 根据麦田和田外区域的不同颜色及亮度特征，判断出田埂的位置以及田埂线的方向候补点群，使用过已知点的哈夫变换计算出田埂线的斜率。