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In Situ Measuring Stem Diameters of Maize Crops with a High-Throughput Phenotyping Robot

文献类型： 外文期刊

作者： Fan, Zhengqiang 1 ; Sun, Na 2 ; Qiu, Quan 4 ; Li, Tao 2 ; Feng, Qingchun 2 ; Zhao, Chunjiang 1 ;

作者机构： 1.Northwest A&F Univ, Coll Mech & Elect Engn, Xianyang 712100, Peoples R China

2.Beijing Acad Agr & Forestry Sci, Intelligent Equipment Res Ctr, Beijing 100097, Peoples R China

3.Southwest Univ, Coll Engn & Technol, Chongqing 400715, Peoples R China

4.Beijing Inst Petrochem Technol, Acad Artificial Intelligence, Beijing 102617, Peoples R China

5.Natl Engn Res Ctr Informat Technol Agr, Beijing 100097, Peoples R China

关键词： agricultural robot; high-throughput phenotyping; RGB-D cameras; in-field crops; stem diameter; point cloud processing

期刊名称：REMOTE SENSING （ 影响因子：5.349； 五年影响因子：5.786 ）

ISSN：

年卷期： 2022 年 14 卷 4 期

页码：

收录情况： SCI

摘要： Robotic High-Throughput Phenotyping (HTP) technology has been a powerful tool for selecting high-quality crop varieties among large quantities of traits. Due to the advantages of multi-view observation and high accuracy, ground HTP robots have been widely studied in recent years. In this paper, we study an ultra-narrow wheeled robot equipped with RGB-D cameras for inter-row maize HTP. The challenges of the narrow operating space, intensive light changes, and messy cross-leaf interference in rows of maize crops are considered. An in situ and inter-row stem diameter measurement method for HTP robots is proposed. To this end, we first introduce the stem diameter measurement pipeline, in which a convolutional neural network is employed to detect stems, and the point cloud is analyzed to estimate the stem diameters. Second, we present a clustering strategy based on DBSCAN for extracting stem point clouds under the condition that the stem is shaded by dense leaves. Third, we present a point cloud filling strategy to fill the stem region with missing depth values due to the occlusion by other organs. Finally, we employ convex hull and plane projection of the point cloud to estimate the stem diameters. The results show that the R-2 and RMSE of stem diameter measurement are up to 0.72 and 2.95 mm, demonstrating its effectiveness.

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