Abstract
This paper presents a novel approach for crop monitoring and 3D reconstruction. A mobile platform, based on a commercial electric vehicle, was developed and equipped with different on-board sensors for crop monitoring. Acceleration, braking and steering systems of the vehicle were automatized. Fuzzy control systems were implemented to achieve autonomous navigation. A low-cost RGB-D sensor, Microsoft Kinect v2 sensor, and a reflex camera were installed on-board the platform for creation of 3D crop maps. The modelling of the field was fully automatic based on algorithms for 3D reconstructions of large areas, such as a complete row crop. Important information can be estimated from a 3D model of the crop, such as the canopy volume. For that goal, the alpha-shape algorithm was proposed. The on-going developments presented in this paper arise as a promising tool to achieve better crop management increasing crop profitability while reducing agrochemical inputs and environmental impact.
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Acknowledgments
This work was financed by the Spanish Ministerio de Economía y Competitividad (AGL2014-52465-C4-3-R) and the Spanish Agencia Estatal de Investigación (AEI) and Fondo Europeo de Desarrollo Regional (FEDER) (AGL2017-83325-C4-1-R and AGL2017-83325-C4-3-R). Karla Cantuña thanks the service commission for the remuneration given by the Cotopaxi Technical University. The authors also wish to acknowledge the ongoing technical support of Damián Rodríguez.
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Bengochea-Guevara, J.M., Andújar, D., Cantuña, K., Garijo-Del-Río, C., Ribeiro, A. (2020). An Autonomous Guided Field Inspection Vehicle for 3D Woody Crops Monitoring. In: Silva, M., Luís Lima, J., Reis, L., Sanfeliu, A., Tardioli, D. (eds) Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019. Advances in Intelligent Systems and Computing, vol 1092. Springer, Cham. https://doi.org/10.1007/978-3-030-35990-4_14
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