Quantification!of!Tree"Geometric! Characteristics: Sensor!platform!and!UAV Reza!Ehsani University!of!Florida [email protected] Tree!Volume!Measurement •Tree canopy Measurement •Unit length of production surface •Measuring fruit set per unit of Volume or Unit length of production surface Laser scanner Inertial sensor Garmin GPS (SICK LMS200) (VG440-CA) (GPS18-5Hz) Serial-to-USB adapter (Sealevel 2403) LabVIEW Notebook computer (CPU: 2.0 GHz) Tree!Canopy!Measurement • Scanned tree images - Angular resolution: 0.5! - Travel speed of tractor: 1 MPH Stereo vision Camera D<1m or D>5m 1m <= D < 1.6m 1.6m <= D < 2.2m 2.2m <= D < 2.8m 2.8m <= D < 3.4m 3.4m <= D <= 5m Tree!Inventory!Sensors Laser Scanner Ultrasonic Sensor Stereo-vision Camera Sensor!Platforms Ground!based"Sensor"Platforms ! Autonomous!tractors ! Sensor!platforms ! Robotic!agricultural!vehicles Mobile!Sensor!Platform Autonomous!Agricultural!Robot! Tractor Source: http://roboticstechnologycenter.com; http://www.unibots.com/Hako.htm 6 Development!of!Sensors!and!Sensor"Aiding! Tools! Mobile!sensor!platform!with!retractable!mast! Mobile"Sensor"Platform"with"Five! band"Passive"Sensor Mobile"Sensor"Platform Mobile"Sensor"Platform" with"artificial"light"source Autonomous!Platform! Sensor!Platforms Aerial"Sensor"Platforms ! Satellite ! Remote!sensing/air"borne!vehicles!(aircrafts) ! Unmanned!aerial!vehicles UAV!sensor!platform Satellite!Imagery Source: http://www.satimagingcorp.com/svc/agriculture.html 9 Applications!of!UAV!in!Agriculture UAVs have not widely used for applications in agriculture •Required well trained pilot to operate •Auto pilot system are expensive 10 With readily available components: a pair of cheap digital cameras, an infrared filter, a tethered helium balloon, radio control servos and transmitter, we can gather over-head images of field crops. Simultaneous IR and VIS bands are captured with the 2 cameras. The RGB bands are recombined in Adobe Photoshop to create false color infrared images. This low cost system (under $800.00), is a useful tool for educational and agronomic applications. CROP CAM Low"cost!Image!Acquisition!Platform Features: Camera • • • • • Altitude Control GPS Position Waypoints Navigation Payload: 1kg Camera: • roll and nick compensated • shutter and controls are configured to the operations RC transmitter or to a dedicated camera operator. Image!Acquisition:!Navigation!System 16 False Color Image NDVI Image Diameter!Estimation!Method a) Original image, b) tree samples, c) crop region region a) Crop region, b) complex diffusion filter c) Zadeh intensification, d) Morphological Skeleton Field!Test!Results:!Diameter! Resolution: 9.85 cm/pixels Estimation Field!Test!Results:!Diameter!Estimation Field!Test!Results:!Diameter! Estimation Height!Estimation Height!Estimation Camera Position 80 70 60 50 40 30 20 10 0 Volume Whitney measured Vs Estimated y = 1.0249x + 8.3831 R = 0.6066 0 10 20 30 40 Estimated (m3) 50 Measured (m3) Measured (m3) Volume Prolate measured Vs Estimated 60 70 80 70 60 50 40 30 20 10 0 y = 1.096x + 0.4213 R = 0.6952 0 10 20 30 40 Estimated (m3) 50 60 70 It is not good to know more unless we do more with what we know. “R. K. Bergethon”