Field testing of vision based macadamia yield monitoring

Abstract

[Abstract]: Algorithms for visually identifying macadamia nuts in real time have been previously reported in (Dunn and Billingsley, 2003). This paper describes field trials on that system, with the additional tasks of integrating GPS and visual tree location. It describes a full working prototype harvester equipped with three cameras counting nuts, one camera mounted transversely logging in-field position by identifying individual trees, a ground speed radar and a Differential GPS receiver. With this system, individual nuts are identified and logged to a position in the field accurate to the nearest 10cm. This allows full yield mapping of the orchard to the individual tree level.