ORCHARD AND TREE MAPPING AND DESCRIPTION USING STEREO VISION AND LIDAR
ORCHARD AND TREE MAPPING AND DESCRIPTION USING STEREO VISION AND LIDAR
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使用立体视觉和激光雷达绘制果园和树木的绘图和描述
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
S. Upadhyaya
中科院分区：
文献类型：
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作者：
M. Nielsen;D. Slaughter;C. Gliever;S. Upadhyaya
提出了一种新的果园扫描方法，并通过树木的自动分离和高度测量进行了验证。实验是在一个真实的果园中进行的，使用激光雷达和立体视觉记录来自移动车辆的数据。果园重建是使用倾斜传感器校正的GPS位置通过编码器计数插值完成的。重建和树标记的倾斜校正的准确性进行了比较，没有倾斜校正。激光雷达重建的精度得到了提高，而立体视觉依赖于倾斜校正。测得的高度相关R=0.83，平均为9cm。该方法可用于玉米估产、疏林动态控制和农药变量施用。
A novel approach for orchard scanning is proposed that is validated through automatic separation of trees and height measurements. The experiments were done in a real orchard recording data from a moving vehicle, using Lidar and stereo vision. The orchard reconstruction was done using tilt sensor corrected GPS positions interpolated through encoder counts. The accuracy of the reconstruction and tree labelling with tilt correction was compared without tilt correction. The accuracy of the Lidar reconstruction was improved, while the stereo vision depended on the tilt correction. The measured heights were correlated R=0.83 and down to an average of 9cm. The approach is suggested to be used for yield estimation, dynamic control of string thinning cylinders, and variable application of pesticides.