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Memorias de investigación
Communications at congresses:
Using Assembled 2D LiDAR Data for Single Plant Detection
Year:2016
Research Areas
  • Sensors,
  • Agriculture
Information
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.
International
Si
Congress
5th International Conference on Machine Control & Guidance
960
Place
Vichy
Reviewers
Si
ISBN/ISSN
00-0000-000-0
Start Date
05/10/2016
End Date
06/10/2016
From page
1
To page
6
Proceedings: 5th International Conference on Machine Control & Guidance
Participants
  • Autor: David Reiser (University of Hohenheim)
  • Autor: Manuel Vazque Arellano (University of Hohenheim)
  • Autor: Miguel Garrido Izard (UPM)
  • Autor: Hans W. Griepentrog (University of Hohenheim)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: LPF-TAGRALIA: Técnicas Avanzadas en Agroalimentación
  • Departamento: Ingeniería Agroforestal
S2i 2020 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
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