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

Paper

Shalal, Nagham, Low, Tobias, McCarthy, Cheryl and Hancock, Nigel. 2013. "A preliminary evaluation of vision and laser sensing for tree trunk detection and orchard mapping." Katupitiya, Jayantha, Guivant, Jose and Eaton, Ray (ed.) Australasian Conference on Robotics and Automation (ACRA 2013). Sydney, Australia 02 - 04 Dec 2013 Australia.

Paper/Presentation Title	A preliminary evaluation of vision and laser sensing for tree trunk detection and orchard mapping
Presentation Type	Paper
Authors	Shalal, Nagham (Author), Low, Tobias (Author), McCarthy, Cheryl (Author) and Hancock, Nigel (Author)
Editors	Katupitiya, Jayantha, Guivant, Jose and Eaton, Ray
Journal or Proceedings Title	Proceedings of the Australasian Conference on Robotics and Automation (ACRA 2013)
Number of Pages	10
Year	2013
Place of Publication	Australia
ISBN	9780980740448
Web Address (URL) of Paper	http://www.araa.asn.au/acra/acra2013/papers/pap162s1-file1.pdf
Conference/Event	Australasian Conference on Robotics and Automation (ACRA 2013)
Event Details	Rank B B B B B B
Event Details	Australasian Conference on Robotics and Automation (ACRA 2013) Event Date 02 to end of 04 Dec 2013 Event Location Sydney, Australia
Abstract	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.
Keywords	agriculture; colour detection; edge detection; laser; mapping; mobile robot; tree detection; vision
Contains Sensitive Content	Does not contain sensitive content
ANZSRC Field of Research 2020	400799. Control engineering, mechatronics and robotics not elsewhere classified
	460304. Computer vision
Public Notes	File reproduced in accordance with the copyright policy of the publisher/author.
Byline Affiliations	Faculty of Engineering and Surveying
	National Centre for Engineering in Agriculture
Institution of Origin	University of Southern Queensland

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Pittaway, P., Hancock, N., Brink, G., Symes, T. and Schmidt, E.. 2009. "Revisiting artificial monolayers as a strategy to reduce evaporative loss from large open water storages ." Kenway, S. J. and Begbie, D. K. (ed.) 1st Urban Water Security Research Alliance Science Forum (UWSRA 2009). Brisbane, Australia 17 - 18 Aug 2009 Brisbane, Australia.

Method and apparatus for measuring electrical conductivity

Hancock, Nigel H., Maxwell, Andrew D. and Ahfock, Tony L.. 2008. Method and apparatus for measuring electrical conductivity. AG01N2702FI

Automated internode length measurement of cotton plants under field conditions

McCarthy, C. L., Hancock, N. H. and Raine, S. R.. 2009. "Automated internode length measurement of cotton plants under field conditions." Transactions of the ASABE. 52 (6), pp. 2093-2103.

On-the-go machine vision sensing of cotton plant geometric parameters: first results

McCarthy, Cheryl, Hancock, Nigel and Raine, Steven. 2008. "On-the-go machine vision sensing of cotton plant geometric parameters: first results." Billingsley, John and Bradbeer, Robin (ed.) 13th Annual Conference on Mechatronics and Machine Vision in Practice. (M2VIP 2006). Toowoomba, Australia 05 - 07 Dec 2006 Germany. pp. 305-312 https://doi.org/10.1007/978-3-540-74027-8_26

Applied machine vision of plants: a review with implications for field deployment in automated farming operations

McCarthy, C. L., Hancock, N. H. and Raine, S. R.. 2010. "Applied machine vision of plants: a review with implications for field deployment in automated farming operations." Intelligent Service Robotics. 3 (4), pp. 209-217. https://doi.org/10.1007/s11370-010-0075-2

Machine vision-based weed spot spraying: a review and where next for sugarcane?

McCarthy, Cheryl, Rees, Steven and Baillie, Craig. 2010. "Machine vision-based weed spot spraying: a review and where next for sugarcane?" Bruce, R. C. (ed.) 32nd Annual Conference of the Australian Society of Sugar Cane Technologists (ASSCT 2010). Bundaberg, Australia 11 - 14 May 2010 Australia.

Ground-plane classification for robot navigation: combining multiple cues toward a visual-based learning system

Low, Tobias and Manzanera, Antoine. 2010. "Ground-plane classification for robot navigation: combining multiple cues toward a visual-based learning system." 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010). Singapore 07 - 10 Dec 2010 United States. https://doi.org/10.1109/ICARCV.2010.5707289

VARIwise: a general-purpose adaptive control simulation framework for spatially and temporally varied irrigation at sub-field scale

McCarthy, Alison, Hancock, Nigel and Raine, Steven R.. 2010. "VARIwise: a general-purpose adaptive control simulation framework for spatially and temporally varied irrigation at sub-field scale." Computers and Electronics in Agriculture. 70 (1), pp. 117-128. https://doi.org/10.1016/j.compag.2009.09.011

Apparatus and infield evaluations of a prototype machine vision system for cotton plant internode length measurement

McCarthy, Cheryl, Hancock, Nigel and Raine, Steven R.. 2010. "Apparatus and infield evaluations of a prototype machine vision system for cotton plant internode length measurement." Journal of Cotton Science. 14 (4), pp. 221-232.

Droplet evaporation losses during sprinkler irrigation: an overview

Uddin, Jasim, Smith, Rod, Hancock, Nigel and Foley, Joseph P.. 2010. "Droplet evaporation losses during sprinkler irrigation: an overview." Montagu, Kelvin (ed.) Australian Irrigation Conference and Exibition 2010: One Water Many Futures. Sydney, Australia 08 - 10 Jun 2010 Sydney, Australia.

Applied machine vision in agriculture at the NCEA

McCarthy, Cheryl and Billingsley, John. 2009. "Applied machine vision in agriculture at the NCEA." Banhazi, T. M. and Saunders, C. (ed.) SEAg 2009: Agricultural Technologies In a Changing Climate. Brisbane, Australia 13 - 16 Sep 2009 Brisbane, Australia.

Reliable, modest-cost seepage and evaporation measurement for farm dams using 'EvapCalc'

Symes, Troy, Hancock, Nigel and Schmidt, Erik. 2010. "Reliable, modest-cost seepage and evaporation measurement for farm dams using 'EvapCalc'." Montagu, Kelvin (ed.) Australian Irrigation Conference and Exibition 2010: One Water Many Futures. Sydney, Australia 08 - 10 Jun 2010 Sydney,Australia.

Simulation of adaptive site-specific irrigation control performance with spatially variable rainfall

McCarthy, Alison, Hancock, Nigel and Raine, Steven R.. 2010. "Simulation of adaptive site-specific irrigation control performance with spatially variable rainfall." Montagu, Kelvin (ed.) Australian Irrigation Conference and Exibition 2010: One Water Many Futures. Sydney, Australia 08 - 10 Jun 2010 Sydney, Australia.

Simulation of site-specific irrigation control strategies with sparse input data

McCarthy, Alison, Hancock, Nigel and Raine, Steven R.. 2010. "Simulation of site-specific irrigation control strategies with sparse input data." 17th World Congress of the International Commission of Agricultural and Biosystems Engineering (CIGR 2010): Sustainable Biosystems Through Engineering. Quebec City, Canada 13 - 17 Jun 2010 Quebec, Canada.

Cattle liveweight estimation using machine vision assessment of objective body measurements: first results

McCarthy, C., Billingsley, J., Finch, N., Murray, P. and Gaughan, J.. 2010. "Cattle liveweight estimation using machine vision assessment of objective body measurements: first results." 28th Biennial Australian Society of Animal Production Conference. Armidale, Australia 11 - 15 Jul 2010 Brisbane, Australia.

Determining operational requirements to optimise monolayer performance on a farm dam via a 'Universal Design Framework'

Brink, Gavin, Wandel, Andrew P., Pittaway, Pam, Hancock, Nigel and Pather, Selvan. 2010. "Determining operational requirements to optimise monolayer performance on a farm dam via a 'Universal Design Framework'." Montagu, Kelvin (ed.) Australian Irrigation Conference and Exibition 2010: One Water Many Futures. Sydney, Australia 08 - 10 Jun 2010 Sydney, Australia.

A ‘universal design framework’ for installation planning and operational management of evaporation-suppressing films on agricultural reservoirs

Brink, Gavin, Wandel, Andrew P., Pittaway, Pam, Hancock, Nigel and Pather, Selvan. 2010. "A ‘universal design framework’ for installation planning and operational management of evaporation-suppressing films on agricultural reservoirs." Genet, Roger (ed.) International Conference on Agricultural Engineering: Towards Environmental Technologies (2010). Clermont-Ferrand, France 06 - 08 Sep 2010

Holistic control system design for large mobile irrigation machines

McCarthy, Alison, Hancock, Nigel and Raine, Steven. 2010. "Holistic control system design for large mobile irrigation machines." 16th Annual Conference on Mechatronics and Machine Vision in Practice (M2VIP 2010). Darussalam, Brunei 22 - 24 Jun 2010 Toowoomba, Australia.

EvapCalc – a modest-cost technique for real-time measurement of evaporation (and seepage) from farm dams

Hancock, Nigel and Symes, Troy. 2009. "EvapCalc – a modest-cost technique for real-time measurement of evaporation (and seepage) from farm dams." IWER 2009: International Workshop on Evaporation from Reservoirs. Gold Coast, Australia 09 - 11 Dec 2009 Gold Coast, Australia.

The combined use of shade-cloth covers and monolayers to prevent evaporation in irrigation reservoirs

Gallego-Elvira, B., Martinez Alvarez, V., Pittaway, Pam, Symes, Troy and Hancock, Nigel. 2010. "The combined use of shade-cloth covers and monolayers to prevent evaporation in irrigation reservoirs." International Conference on Agricultural Engineering: Towards Environmental Technologies (2010). Clermont-Ferrand, France 06 - 08 Sep 2010

Development of a prototype precision spot spray system using image analysis and plant identification technology

Rees, Steven, McCarthy, Cheryl, Artizzu, X. P. B., Baillie, Craig and Dunn, Mark. 2009. "Development of a prototype precision spot spray system using image analysis and plant identification technology." Banhazi, T. M. and Saunders, C. (ed.) SEAg 2009: Agricultural Technologies In a Changing Climate. Brisbane, Australia 13 - 16 Sep 2009 Brisbane, Australia.

Towards a biophysical understanding of observed performance of evaporation suppressant films applied to agricultural water storages - first analyses

Hancock, Nigel, Pittaway, Pam and Symes, Troy. 2009. "Towards a biophysical understanding of observed performance of evaporation suppressant films applied to agricultural water storages - first analyses ." Banhazi, T. M. and Saunders, C. (ed.) SEAg 2009: Agricultural Technologies In a Changing Climate. Brisbane, Australia 13 - 16 Sep 2009 Brisbane, Australia.

Smart monolayer application and management to reduce evaporation on farm dams - formulation of a universal design framework

Brink, Gavin, Symes, Troy, Pittaway, Pam, Hancock, Nigel, Pather, Selvan and Schmidt, Erik. 2009. "Smart monolayer application and management to reduce evaporation on farm dams - formulation of a universal design framework." Venkatraman, K. (ed.) 2009 Environmental Research Event. Noosa, Australia 10 - 13 May 2009

Towards adaptive operational requirements for optimal application of evaporation-suppressing monolayer to reservoirs via a 'universal design framework'

Brink, Gavin, Wandel, Andrew P., Hancock, Nigel and Pather, Selvan. 2009. "Towards adaptive operational requirements for optimal application of evaporation-suppressing monolayer to reservoirs via a 'universal design framework'." IWER 2009: International Workshop on Evaporation from Reservoirs. Gold Coast, Australia 09 - 11 Dec 2009 Gold Coast, Australia.

A preliminary field evaluation of an automated vision-based plant geometry measurement system

McCarthy, Cheryl, Hancock, Nigel and Raine, Steven R.. 2007. "A preliminary field evaluation of an automated vision-based plant geometry measurement system." Prusinkiewicz, Przemyslaw, Hanan, Jim S. and Lane, Brendan (ed.) 5th International Workshop on Functional Structural Plant Models (FSPM07). Napier, New Zealand 04 - 09 Nov 2007

Improving the performance of chemical monolayers in reducing farm dam evaporation

Craig, Ian, Schmidt, Erik, Hancock, Nigel, Barnes, Geoff, Turnbull, David J., Pittaway, Pam and Morrison, Pippa. 2006. "Improving the performance of chemical monolayers in reducing farm dam evaporation." 3rd CRC-IF Annual Research Forum. Narrabri, Australia 05 - 06 Dec 2006 Toowoomba, Queensland.

Development of a 'smart' monolayer application system for reducing evaporation from farm dams: introductory paper

Brink, Gavin, Symes, Troy and Hancock, Nigel. 2009. "Development of a 'smart' monolayer application system for reducing evaporation from farm dams: introductory paper." Banhazi, T. M. and Saunders, C. (ed.) SEAg 2009: Agricultural Technologies In a Changing Climate. Brisbane, Australia 13 - 16 Sep 2009 Brisbane, Australia.

EvapCalc software for the determination of dam evaporation and seepage

Craig, Ian, Schmidt, Erik and Hancock, Nigel. 2007. "EvapCalc software for the determination of dam evaporation and seepage." Banhazi, T. M. and Saunders, C. (ed.) SEAg 2007: Agriculture and Engineering - Challenge Today, Technology Tomorrow. Adelaide, Australia 24 - 26 Sep 2007 Adelaide, Australia.

Automated machine vision sensing of plant structural parameters

McCarthy, C. L., Hancock, Nigel and Raine, Steven R.. 2007. "Automated machine vision sensing of plant structural parameters." Biological Sensorics 2007: Critical Technologies for Future Biosystems. Minneapolis, Australia 15 - 17 Jun 2007 St. Joseph, MI, United States.

Development of a simulation framework for variable-rate irrigation of cotton

McCarthy, Alison, Hancock, Nigel and Raine, Steven R.. 2008. "Development of a simulation framework for variable-rate irrigation of cotton." 14th Australian Cotton Conference: New Beginnings – Cotton in a Climate of Change. Gold Coast, Australia 12 - 14 Aug 2008 Narrabri, NSW, Australia.

Managing spatial and temporal variability in irrigated agriculture through adaptive control

Smith, R. J., Raine, Steven R., McCarthy, Alison and Hancock, Nigel. 2009. "Managing spatial and temporal variability in irrigated agriculture through adaptive control." Australian Journal of Multi-Disciplinary Engineering. 7 (1), pp. 79-90.

Exploration of data requirements for adaptive control of irrigation scheduling

McCarthy, Alison, Hancock, Nigel and Raine, Steven R.. 2009. "Exploration of data requirements for adaptive control of irrigation scheduling." Banhazi, T. M. and Saunders, C. (ed.) SEAg 2009: Agricultural Technologies In a Changing Climate. Brisbane, Australia 13 - 16 Sep 2009 Brisbane, Australia.

Sensors in, for and by mechatronics: a symbiosis [Introduction]

Hancock, Nigel H.. 2000. "Sensors in, for and by mechatronics: a symbiosis [Introduction]." Billingsley, John (ed.) Mechatronics and machine vision. Baldock, United Kingdom. Research Studies Press. pp. 101-103

Automated carbon dioxide measurement via miniaturised chemical reaction chambers under mechatronic control

Maxwell, Andrew, Hancock, Nigel and Tran-Cong, Thanh. 2000. "Automated carbon dioxide measurement via miniaturised chemical reaction chambers under mechatronic control." Billingsley, John (ed.) Mechatronics and machine vision. Baldock, United Kingdom. Research Studies Press. pp. 135-142

Towards evaluation of adaptive control systems for improved site-specific irrigation of cotton

McCarthy, Alison, Hancock, Nigel and Raine, Steven R.. 2008. "Towards evaluation of adaptive control systems for improved site-specific irrigation of cotton." Irrigation Australia 2008: Irrigation Association of Australia National Conference and Exhibition: Share the Water, Share the Benefits. Melbourne, Australia 20 - 22 May 2008 Hornsby, NSW, Australia.

Managing spatial and temporal variability in irrigated agriculture through adaptive control

Smith, R. J., Raine, Steven R., McCarthy, Alison and Hancock, Nigel. 2007. "Managing spatial and temporal variability in irrigated agriculture through adaptive control." Banhazi, T. M. and Saunders, C. (ed.) SEAg 2007: Agriculture and Engineering - Challenge Today, Technology Tomorrow. Adelaide, Australia 24 - 26 Sep 2007 Australia.

Evaporation, seepage and water quality management in storage dams: a review of research methods

Craig, Ian, Aravinthan, Vasantha, Baillie, Craig Peter, Beswick, Alan, Barnes, Geoff, Bradbury, Ron, Connell, Luke, Cooper, Paul, Fellows, Christopher, Fitzmaurice, Li, Foley, Joseph P., Hancock, Nigel, Lamb, David, Morrison, Pippa, Mossad, Ruth, Misra, R. K., Pittaway, Pam, Prime, Emma, Rees, Steve, ..., Turnbull, David. 2007. "Evaporation, seepage and water quality management in storage dams: a review of research methods." Environmental Health. 7 (3), pp. 84-97.

Non-contact extrudate profilometer: introductory paper

Taylor, Reginald, Hancock, Nigel and Tran-Cong, Thanh. 1997. "Non-contact extrudate profilometer: introductory paper." Werner, B. (ed.) 4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997). Toowoomba, Australia 23 - 25 Sep 1997 USA. https://doi.org/10.1109/MMVIP.1997.625315

Carbon dioxide sensing - a mechatronic approach

Maxwell, Andrew, Hancock, Nigel and Billingsley, John. 1997. "Carbon dioxide sensing - a mechatronic approach." Werner, B. (ed.) 4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997). Toowoomba, Australia 23 - 25 Sep 1997 Los Alamitos, CA. United States. https://doi.org/10.1109/MMVIP.1997.625292

Methods for assessing dam evaporation - an introductory paper

Craig, Ian and Hancock, Nigel. 2004. "Methods for assessing dam evaporation - an introductory paper." Burnett, Jolyon (ed.) Irrigation Australia 2004: Irrigation Association of Australia National Conference and Exhibition. Adelaide, Australia 11 - 13 May 2004 Hornsby, NSW, Australia.

On-the-go machine vision sensing of cotton plant geometric parameters: first results

McCarthy, Cheryl, Hancock, Nigel and Raine, Steven R.. 2006. "On-the-go machine vision sensing of cotton plant geometric parameters: first results." Billingsley, John (ed.) 13th Annual Conference on Mechatronics and Machine Vision in Practice. (M2VIP 2006). Toowoomba, Australia 05 - 07 Dec 2006 Berlin, Heidelberg.

A preliminary evaluation of machine vision sensing of cotton nodes for automated irrigation control

McCarthy, Cheryl, Hancock, Nigel and Raine, Steven R.. 2006. "A preliminary evaluation of machine vision sensing of cotton nodes for automated irrigation control." Irrigation Australia 2006: Irrigation Association of Australia National Conference and Exhibition. Brisbane, Australia 09 - 11 May 2006 Brisbane.

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

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