Precision Orchard Management tasks require high-grade precision representation of plants information to unleash the potential and the efficiency of involved operations. In order to improve this, especially when autonomous vehicles are involved, a 3D orchard reconstruction is particularly useful. This work aims to exploit RGBD images to estimate the local 3D position of fruits on a plant, with respect to the trunk position. Besides being a useful information to map plant production distribution, it can also be used to localize real objects in virtual environments, such as digital twins. The process can serve as a foundation of numerous monitoring activities, thinning procedures and autonomous harvesting tasks.
Simini, A., Piani, M., Bortolotti, G., Sanchez, A.M., Mengoli, D., Manfrini, L. (2024). Populating Digital Orchards: Evaluation of a 3D Positioning Algorithm for Semi-Automated Data Collection and Spawning. New York : IEEE Institute of Electrical and Electronics Engineers [10.1109/MetroAgriFor63043.2024.10948798].
Populating Digital Orchards: Evaluation of a 3D Positioning Algorithm for Semi-Automated Data Collection and Spawning
Simini A.;Piani M.;Bortolotti G.;Mengoli D.;Manfrini L.
2024
Abstract
Precision Orchard Management tasks require high-grade precision representation of plants information to unleash the potential and the efficiency of involved operations. In order to improve this, especially when autonomous vehicles are involved, a 3D orchard reconstruction is particularly useful. This work aims to exploit RGBD images to estimate the local 3D position of fruits on a plant, with respect to the trunk position. Besides being a useful information to map plant production distribution, it can also be used to localize real objects in virtual environments, such as digital twins. The process can serve as a foundation of numerous monitoring activities, thinning procedures and autonomous harvesting tasks.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
