Canopy Density Estimation in Perennial Horticulture Crops Using 3D Spinning LiDAR SLAM

by   Thomas Lowe, et al.

We propose a 3D ray cloud based method for estimating the canopy density of vineyards and orchards that have been scanned by a vehicle-mounted mobile 3D spinning LiDAR (AgScan3D). The method is composed of two parts. Firstly, the AgScan3D data is processed through a Continuous-Time SLAM algorithm into a globally registered 3D ray cloud. The global ray cloud is a canonical data format (a digital twin) from which we can compare vineyard snapshots over multiple times within a season and across seasons. Secondly, the vineyard rows are automatically extracted from the ray cloud and a novel density calculation is performed to estimate the maximum likelihood canopy densities of the vineyard. This combination of digital twinning, together with the accurate extraction of canopy structure information, allows entire vineyards to be analysed and compared, across the growing season and from year to year. The proposed method is evaluated both in simulation and field experiments. Field experiments were performed at four sites, which varied in vineyard structure and vine management, over two growing seasons, resulting in a total traversal of 160 kilometres, 42.4 scanned hectares of vines with a combined total of approximately 93000 of scanned vines. The field datasets and ray cloud library will be released publicly.


page 11

page 13

page 14

page 16

page 17

page 19

page 22

page 24


6-DOF Feature based LIDAR SLAM using ORB Features from Rasterized Images of 3D LIDAR Point Cloud

An accurate and computationally efficient SLAM algorithm is vital for mo...

A real-time global re-localization framework for 3D LiDAR SLAM

Simultaneous localization and mapping (SLAM) has been a hot research fie...

Wildcat: Online Continuous-Time 3D Lidar-Inertial SLAM

We present Wildcat, a novel online 3D lidar-inertial SLAM system with ex...

Real-Time Ground-Plane Refined LiDAR SLAM

SLAM system using only point cloud has been proven successful in recent ...

Lumbar Bone Mineral Density Estimation from Chest X-ray Images: Anatomy-aware Attentive Multi-ROI Modeling

Osteoporosis is a common chronic metabolic bone disease that is often un...

LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping

Long-term 3D map management is a fundamental capability required by a ro...

Extraction of Coronary Vessels in Fluoroscopic X-Ray Sequences Using Vessel Correspondence Optimization

We present a method to extract coronary vessels from fluoroscopic x-ray ...

Please sign up or login with your details

Forgot password? Click here to reset