UAV搭載3D LiDARによる作物高さと区画の推定
Crop Height and Plot Estimation for Phenotyping from Unmanned Aerial Vehicles using 3D LiDAR
ドローンに載せた3D LiDARの点群から小麦圃場の作物高さを推定する手法を提案し、112区画でRMSE 6.1cmを達成した。
著者: Harnaik Dhami, Kevin Yu, Tianshu Xu, Qian Zhu, Kshitiz Dhakal, James Friel, Song Li, Pratap Tokekar
分類: cs.RO, cs.CV
原文アブストラクト
We present techniques to measure crop heights using a 3D Light Detection and Ranging (LiDAR) sensor mounted on an Unmanned Aerial Vehicle (UAV). Knowing the height of plants is crucial to monitor their overall health and growth cycles, especially for high-throughput plant phenotyping. We present a methodology for extracting plant heights from 3D LiDAR point clouds, specifically focusing on plot-based phenotyping environments. We also present a toolchain that can be used to create phenotyping farms for use in Gazebo simulations. The tool creates a randomized farm with realistic 3D plant and terrain models. We conducted a series of simulations and hardware experiments in controlled and natural settings. Our algorithm was able to estimate the plant heights in a field with 112 plots with a root mean square error (RMSE) of 6.1 cm. This is the first such dataset for 3D LiDAR from an airborne robot over a wheat field. The developed simulation toolchain, algorithmic implementation, and datasets can be found on the GitHub repository located at https://github.com/hsd1121/PointCloudProcessing.
