Orchard mapping and mobile robot localisation using on-board camera and laser scanner data fusion – Part A: tree detection

Shalal, Nagham and Low, Tobias and McCarthy, Cheryl and Hancock, Nigel (2015) Orchard mapping and mobile robot localisation using on-board camera and laser scanner data fusion – Part A: tree detection. Computers and Electronics in Agriculture, 119. pp. 254-266. ISSN 0168-1699


Trees in orchards are natural landmarks providing suitable cues for mobile robot localisation as they are nominally planted in straight and parallel rows. This paper presents a novel tree trunk detection algorithm using a camera and laser scanner data fusion to enhance the detection capability. The algorithm detects the trees in the orchard and discriminates between trees and non-tree objects (e.g. posts and tree supports). The laser scanner is used to detect the edge points and determine the width of the tree trunks and non-tree objects, while the camera images are used to verify the colour and the parallel edges of the
tree trunks and non-tree objects. The algorithm automatically adjusts the colour detection parameters
after each test which shown to increase the detection accuracy. Experimental tests were conducted with a small robot platform in a real orchard environment to evaluate the performance of the tree trunk detection algorithm under two broad illumination conditions (sunny and cloudy). The algorithm was able to detect the tree trunks and discriminate between trees and non-tree objects with detection accuracy of 96.64% showing that the fusion of both vision and laser scanner technologies produced robust tree trunk detection.

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Item Type: Article (Commonwealth Reporting Category C)
Refereed: Yes
Item Status: Live Archive
Additional Information: Permanent restricted access to published version in accordance with the copyright policy of the publisher.
Faculty / Department / School: Current - Faculty of Health, Engineering and Sciences - School of Mechanical and Electrical Engineering
Date Deposited: 15 Apr 2016 02:49
Last Modified: 08 Jun 2016 03:39
Uncontrolled Keywords: tree detection; computer vision; laser scanner; data fusion; mobile robot; orchard
Fields of Research : 09 Engineering > 0906 Electrical and Electronic Engineering > 090602 Control Systems, Robotics and Automation
09 Engineering > 0913 Mechanical Engineering > 091302 Automation and Control Engineering
Identification Number or DOI: 10.1016/j.compag.2015.09.025
URI: http://eprints.usq.edu.au/id/eprint/28965

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