A preliminary evaluation of vision and laser sensing for tree trunk detection and orchard mapping

Shalal, Nagham and Low, Tobias and McCarthy, Cheryl and Hancock, Nigel (2013) A preliminary evaluation of vision and laser sensing for tree trunk detection and orchard mapping. In: Australasian Conference on Robotics and Automation (ACRA 2013), 2-4 Dec 2013, Sydney, Australia.

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Mapping is a significant issue in mobile robot applications. Mobile robots can build a map or a model of the environment using different sensors. An orchard is a suitable agricultural environment for mobile robot applications since it is a semi-structured environment, where trees are
planted in nominally straight rows. This paper presents a new method to extract features from the orchard environment using a camera and laser range scanner to create a map of the orchard. The map of the orchard is based on the detection of tree trunks. In this study, image segmentation and data fusion methods are used for feature extraction, tree detection and orchard map construction. Integration of both machine vision and laser sensor provides more robust information for tree trunk detection and orchard mapping. The resulting map composes of the coordinates of individual trees in each row as well as the coordinates of other non-tree objects detected by the sensors.

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Item Type: Conference or Workshop Item (Commonwealth Reporting Category E) (Paper)
Refereed: Yes
Item Status: Live Archive
Additional Information: Authors retain copyright. This publication is copyright. It may be reproduced in whole or in part for the purposes of study, research, or review, but is subject to the inclusion of an acknowledgment of the source.
Faculty / Department / School: Current - Faculty of Health, Engineering and Sciences - School of Mechanical and Electrical Engineering
Date Deposited: 16 Feb 2014 05:22
Last Modified: 02 Dec 2014 05:17
Uncontrolled Keywords: agriculture; colour detection; edge detection; laser; mapping; mobile robot; tree detection; vision
Fields of Research : 09 Engineering > 0906 Electrical and Electronic Engineering > 090602 Control Systems, Robotics and Automation
08 Information and Computing Sciences > 0801 Artificial Intelligence and Image Processing > 080104 Computer Vision
09 Engineering > 0913 Mechanical Engineering > 091302 Automation and Control Engineering
Socio-Economic Objective: E Expanding Knowledge > 97 Expanding Knowledge > 970107 Expanding Knowledge in the Agricultural and Veterinary Sciences
URI: http://eprints.usq.edu.au/id/eprint/24583

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