Abstract
In this work, a crop inspection system is presented. A mobile platform, based on a commercial electric vehicle, is equipped with different on-board sensors to inspection annual crops (maize, cereal, etc.) and multi-annual crops (orchards, vineyards, etc.). The use of a low-cost RGB-D sensor, the Microsoft Kinect v2 sensor, for the inspection of woody crops is tested. A method to generate automatic 3D reconstructions of large areas, such as a complete crop row, from the information directly supplied by the RGB-D sensor is shown as well as a procedure to correct the drift that appears in the reconstruction of crop rows. All these methods were tested and validated in real fields at different times throughout 2016. The development presented in this paper is a promising technology to achieve better crop management, which will increase crop yield.
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Acknowledgements
The Spanish Government has provided full and continuing support for this research work through project AGL2014-52465-C4-3-R (3DWeed). The authors wish to thank Codorniu S.A company for the use of the facilities on the estate of Raimat and extend their gratitude to Jordi Recasens and his team (Weed Science and Plant Ecology Research Group of the UdL) for their invaluable help in the field trials. Karla Cantuña thanks the service commission for the remuneration given by the Cotopaxi Technical University. The authors also wish to acknowledge the ongoing technical support of Damián Rodríguez.
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Bengochea-Guevara, J.M., Andújar, D., Sanchez-Sardana, F.L., Cantuña, K., Ribeiro, A. (2018). 3D Monitoring of Woody Crops Using a Medium-Sized Field Inspection Vehicle. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 694. Springer, Cham. https://doi.org/10.1007/978-3-319-70836-2_20
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