eprintid: 66812 rev_number: 19 eprint_status: archive userid: 2293 dir: disk0/00/06/68/12 datestamp: 2021-04-21 13:07:08 lastmod: 2021-04-21 13:35:06 status_changed: 2021-04-21 13:35:06 type: article metadata_visibility: show creators_name: Krus, Anne creators_name: Van Apeldoorn, Dirk creators_name: Valero Ubierna, Constantino creators_name: Ramirez Montoro, Juan José creators_id: a.m.krus@upm.es creators_id: constantino.valero@upm.es creators_id: juanjose.ramirez.montoro@upm.es title: Acquiring Plant Features with Optical Sensing Devices in an Organic Strip-Cropping System rights: none ispublished: pub subjects: agricultura subjects: electronica full_text_status: public keywords: lidar; cabbages; weighted sum; point cloud; plant extraction note: Técnicas Avanzadas en Agroalimentación LPF-TAGRALIA abstract: The SUREVEG project focuses on improvement of biodiversity and soil fertility in organic agriculture through strip-cropping systems. To counter the additional workforce a robotic tool is proposed. Within the project, a modular proof of concept (POC) version will be produced that will combine detection technologies with actuation on a single-plant level in the form of a robotic arm. This article focuses on the detection of crop characteristics through point clouds obtained with two lidars. Segregation in soil and plants was successfully achieved without the use of additional data from other sensor types, by calculating weighted sums, resulting in a dynamically obtained threshold criterion. This method was able to extract the vegetation from the point cloud in strips with varying vegetation coverage and sizes. The resulting vegetation clouds were compared to drone imagery, to prove they perfectly matched all green areas in said image. By dividing the remaining clouds of overlapping plants by means of the nominal planting distance, the number of plants, their volumes, and thereby the expected yields per row could be determined date_type: published date: 2020-02 publication: Agronomy volume: 10 number: 2 pagerange: 197 id_number: 10.3390/agronomy10020197 institution: Agronomica department: Ingenieria_2014 refereed: TRUE issn: 2073-4395 official_url: https://doi.org/10.3390/agronomy10020197 comprojects_type: MINECO comprojects_code: C1920280080 comprojects_acronym: SUREVEG comprojects_leader: Constantino Valero Ubierna comprojects_title: Strip-cropping and recycling of waste for biodiverse and resource-Efficient intensive VEGetable production citation: Krus, Anne and Van Apeldoorn, Dirk and Valero Ubierna, Constantino and Ramirez Montoro, Juan José (2020). Acquiring Plant Features with Optical Sensing Devices in an Organic Strip-Cropping System. "Agronomy", v. 10 (n. 2); p. 197. ISSN 2073-4395. https://doi.org/10.3390/agronomy10020197 . document_url: http://oa.upm.es/66812/1/agronomy-10-00197-v2.pdf