Using Assembled 2D LiDAR Data for Single Plant Detection

Reiser, David and Vázquez Arellano, Manuel and Garrido Izard, Miguel and Griepentrog, Hans W. and Paraforos, Dimitris S. (2016). Using Assembled 2D LiDAR Data for Single Plant Detection. In: "5th International Conference on Machine Control & Guidance", 05/10/2016-06/10/2016, Vichy, France. p. 7.

Description

Title: Using Assembled 2D LiDAR Data for Single Plant Detection
Author/s:
  • Reiser, David
  • Vázquez Arellano, Manuel
  • Garrido Izard, Miguel
  • Griepentrog, Hans W.
  • Paraforos, Dimitris S.
Item Type: Presentation at Congress or Conference (Article)
Event Title: 5th International Conference on Machine Control & Guidance
Event Dates: 05/10/2016-06/10/2016
Event Location: Vichy, France
Title of Book: 5th International conference on Machine Control & Guidance
Date: 2016
Subjects:
Faculty: E.T.S. de Ingeniería Agronómica, Alimentaria y de Biosistemas (UPM)
Department: Ingeniería Agroforestal
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (2MB) | Preview

Abstract

A 2D laser scanner was mounted on the front of the small 4-wheel autonomous robot with differential steering, in an angle of 30 degrees pointing downwards. The machine was able to drive between maize rows and collect timestamped data simultaneously. The position of the vehicle was tracked by a highly precise total station. The data of the total station and the laser scanner was fused to generate a 3D point cloud. This 3D representation was used to search for single plant positions, what could later be used for additional applications like single plant treatment and precision weeding. First all points belonging to the ground plane were removed. Afterwards outliers were filtered. For separating the resulting points, a k-d tree clustering was used. Of each single point cloud cluster the 3D centroid was evaluated and assumed as the resulting plant position. This was done on three different growth stages of the plants. Results showed good detection rates up to 70.7 % with a root mean square error of 3.6 cm, precise enough to allow single plant treatment.

More information

Item ID: 45055
DC Identifier: http://oa.upm.es/45055/
OAI Identifier: oai:oa.upm.es:45055
Official URL: https://mcg2016.irstea.fr/
Deposited by: Memoria Investigacion
Deposited on: 31 Mar 2017 13:34
Last Modified: 31 Mar 2017 13:34
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM