Sensing in the visible spectrum and beyond for terrain estimation in precision agriculture. (1st June 2017)

• Record Type: Journal Article
• Authors: Milella, A.; Nielsen, M.; Reina, G.
• Is Part Of: Advances in animal biosciences. Volume 8:Number 2(2017)
• Page Start: 423
• Page End: 429
• Publication Date: 2017-06-01
• Subjects: Autonomous intelligent vehicles, -- agricultural robotics, -- terrain estimation, -- optical sensors, -- sensing in the visible and beyond; Animal nutrition -- Periodicals; Animal breeding -- Periodicals; Animal genetics -- Periodicals; Animal biotechnology -- Periodicals; Environmental sciences -- Periodicals; 636.005
• DOI: 10.1017/S2040470017000152
• Languages: English
• ISSNs: 2040-4700

Abstract

Abstract : A multi-sensor approach for terrain estimation is proposed using a combination of complementary optical sensors that cover the visible (VIS), near infrared (NIR) and infrared (IR) spectrum. The sensor suite includes a stereovision sensor, a VIS-NIR camera and a thermal camera, and it is intended to be mounted on board an agricultural vehicle, pointing downward to scan the portion of the terrain ahead. A method to integrate the different sensor data and create a multi-modal dense 3D terrain map is presented. The stereovision input is used to generate 3D point clouds that incorporate RGB-D information, whereas the VIS-NIR camera and the thermal sensor are employed to extract respectively spectral signatures and temperature information, to characterize the nature of the observed surfaces. Experimental tests carried out by an off-road vehicle are presented, showing the feasibility of the proposed approach.