Matching the best viewing angle in depth cameras for biomass estimation based on poplar seedling geometry

A Method for Measuring the Quality of Graphic Transfer to Materials with Variable Dimensions (Wood)

The transfer of graphics to a product's surface is a widely known technology. Printing, engraving, and etching are used every day in production processes with countless types of materials. This paper deals with quality control for laser engraving on surfaces with variable dimensions via optical sensors. The engraving process, apart from colour changes, can induce volume and moisture changes, which lead to dimension changes in some materials. Natural materials and biomaterials are among the ones most affected. Combined with the porous and inhomogeneous structure of such a material, it can be difficult to measure the quality of graphic transfer, especially for shaded products. The quality control of laser-engraved photographs on thin layers of wood veneer was selected as a suitable problem to solve. A complex method for the quality measurement of the specified production was designed and tested. We used an affine transformation to determine the system behaviour and to determine the transfer function of material changes during the production process. Moreover, there is a possibility to compensate the image deformation of the engraved product.

Poplar Short Rotation Coppice Plantations under Mediterranean Conditions: The Case of Spain

Developing a circular bioeconomy based on the sustainable use of biological resources, such as biomass, seems to be the best way of responding to the challenges associated with global change. Among the many sources, short rotation forest crops are an essential instrument for obtaining quality biomass with a predictable periodicity and yield, according to the areas of cultivation. This review aims to provide an overview of available knowledge on short rotation coppice Populus spp. plantations under Mediterranean conditions and specifically in Spain, in order to identify not only the status, but also the future prospects, for this type of biomass production. The analysis of available information was conducted by taking into consideration the following aspects: Genetic plant material; plantation design, including densities, rotation lengths and the number of rotations, and mixtures; management activities, including irrigation, fertilization, and weed control; yield prediction; biomass characterization; and finally, an evaluation of the sustainability of the plantation and ecosystem services provided. Despite advances, there is still much to be done if these plantations are to become a commercial reality in some Mediterranean areas. To achieve this aim, different aspects need to be reconsidered, such as irrigation, bearing in mind that water restrictions represent a real threat; the specific adaptation of genetic material to these conditions, in order to obtain a greater efficiency in resource use, as well as a greater resistance to pests and diseases or tolerance to abiotic stresses such as drought and salinity; rationalizing fertilization; quantifying and valuing the ecosystem services; the advance of more reliable predictive models based on ecophysiology; the specific characterization of biomass for its final use (bioenergy/bioproducts); technological improvements in management and harvesting; and finally, improving the critical aspects detected in environmental, energy, and economic analyses to achieve profitable and sustainable plantations under Mediterranean conditions.

Assessing the Performance of RGB-D Sensors for 3D Fruit Crop Canopy Characterization under Different Operating and Lighting Conditions

The use of 3D sensors combined with appropriate data processing and analysis has provided tools to optimise agricultural management through the application of precision agriculture. The recent development of low-cost RGB-Depth cameras has presented an opportunity to introduce 3D sensors into the agricultural community. However, due to the sensitivity of these sensors to highly illuminated environments, it is necessary to know under which conditions RGB-D sensors are capable of operating. This work presents a methodology to evaluate the performance of RGB-D sensors under different lighting and distance conditions, considering both geometrical and spectral (colour and NIR) features. The methodology was applied to evaluate the performance of the Microsoft Kinect v2 sensor in an apple orchard. The results show that sensor resolution and precision decreased significantly under middle to high ambient illuminance (>2000 lx). However, this effect was minimised when measurements were conducted closer to the target. In contrast, illuminance levels below 50 lx affected the quality of colour data and may require the use of artificial lighting. The methodology was useful for characterizing sensor performance throughout the full range of ambient conditions in commercial orchards. Although Kinect v2 was originally developed for indoor conditions, it performed well under a range of outdoor conditions.

Monitoring Vineyard Canopy Management Operations Using UAV-Acquired Photogrammetric Point Clouds

Canopy management operations, such as shoot thinning, leaf removal, and shoot trimming, are among the most relevant agricultural practices in viticulture. However, the supervision of these tasks demands a visual inspection of the whole vineyard, which is time-consuming and laborious. The application of photogrammetric techniques to images acquired with an Unmanned Aerial Vehicle (UAV) has proved to be an efficient way to measure woody crops canopy. Consequently, the objective of this work was to determine whether the use of UAV photogrammetry allows the detection of canopy management operations. A UAV equipped with an RGB digital camera was used to acquire images with high overlap over different canopy management experiments in four vineyards with the aim of characterizing vine dimensions before and after shoot thinning, leaf removal, and shoot trimming operations. The images were processed to generate photogrammetric point clouds of every vine that were analyzed using a fully automated object-based image analysis algorithm. Two approaches were tested in the analysis of the UAV derived data: (1) to determine whether the comparison of the vine dimensions before and after the treatments allowed the detection of the canopy management operations; and (2) to study the vine dimensions after the operations and assess the possibility of detecting these operations using only the data from the flight after them. The first approach successfully detected the canopy management. Regarding the second approach, significant differences in the vine dimensions after the treatments were detected in all the experiments, and the vines under the shoot trimming treatment could be easily and accurately detected based on a fixed threshold.

Estimation of a New Canopy Structure Parameter for Rice Using Smartphone Photography

The objective of this study was to develop a low-cost method for rice growth information obtained quickly using digital images taken with smartphone. A new canopy parameter, namely, the canopy volume parameter (CVP), was proposed and developed for rice using the leaf area index (LAI) and plant height (PH). Among these parameters, the CVP was selected as an optimal parameter to characterize rice yields during the growth period. Rice canopy images were acquired with a smartphone. Image feature parameters were extracted, including the canopy cover (CC) and numerous vegetation indices (VIs), before and after image segmentation. A rice CVP prediction model in which the CC and VIs served as independent variables was established using a random forest (RF) regression algorithm. The results revealed the following. The CVP was better than the LAI and PH for predicting the final yield. And a CVP prediction model constructed according to a local modelling method for distinguishing different types of rice varieties was the most accurate (coefficient of determination (R²) = 0.92; root mean square error (RMSE) = 0.44). These findings indicate that digital images can be used to track the growth of crops over time and provide technical support for estimating rice yields.

Combination of an Automated 3D Field Phenotyping Workflow and Predictive Modelling for High-Throughput and Non-Invasive Phenotyping of Grape Bunches

In grapevine breeding, loose grape bunch architecture is one of the most important selection traits, contributing to an increased resilience towards Botrytis bunch rot. Grape bunch architecture is mainly influenced by the berry number, berry size, the total berry volume, and bunch width and length. For an objective, precise, and high-throughput assessment of these architectural traits, the 3D imaging sensor Artec® Spider was applied to gather dense point clouds of the visible side of grape bunches directly in the field. Data acquisition in the field is much faster and non-destructive in comparison to lab applications but results in incomplete point clouds and, thus, mostly incomplete phenotypic values. Therefore, lab scans of whole bunches (360°) were used as ground truth. We observed strong correlations between field and lab data but also shifts in mean and max values, especially for the berry number and total berry volume. For this reason, the present study is focused on the training and validation of different predictive regression models using 3D data from approximately 2000 different grape bunches in order to predict incomplete bunch traits from field data. Modeling concepts included simple linear regression and machine learning-based approaches. The support vector machine was the best and most robust regression model, predicting the phenotypic traits with an R2 of 0.70–0.91. As a breeding orientated proof-of-concept, we additionally performed a Quantitative Trait Loci (QTL)-analysis with both the field modeled and lab data. All types of data resulted in joint QTL regions, indicating that this innovative, fast, and non-destructive phenotyping method is also applicable for molecular marker development and grapevine breeding research.

Measurement Method Based on Multispectral Three-Dimensional Imaging for the Chlorophyll Contents of Greenhouse Tomato Plants

Nondestructive plant growth measurement is essential for researching plant growth and health. A nondestructive measurement system to retrieve plant information includes the measurement of morphological and physiological information, but most systems use two independent measurement systems for the two types of characteristics. In this study, a highly integrated, multispectral, three-dimensional (3D) nondestructive measurement system for greenhouse tomato plants was designed. The system used a Kinect sensor, an SOC710 hyperspectral imager, an electric rotary table, and other components. A heterogeneous sensing image registration technique based on the Fourier transform was proposed, which was used to register the SOC710 multispectral reflectance in the Kinect depth image coordinate system. Furthermore, a 3D multiview RGB-D image-reconstruction method based on the pose estimation and self-calibration of the Kinect sensor was developed to reconstruct a multispectral 3D point cloud model of the tomato plant. An experiment was conducted to measure plant canopy chlorophyll and the relative chlorophyll content was measured by the soil and plant analyzer development (SPAD) measurement model based on a 3D multispectral point cloud model and a single-view point cloud model and its performance was compared and analyzed. The results revealed that the measurement model established by using the characteristic variables from the multiview point cloud model was superior to the one established using the variables from the single-view point cloud model. Therefore, the multispectral 3D reconstruction approach is able to reconstruct the plant multispectral 3D point cloud model, which optimizes the traditional two-dimensional image-based SPAD measurement method and can obtain a precise and efficient high-throughput measurement of plant chlorophyll.

Extraction and Research of Crop Feature Points Based on Computer Vision

Based on computer vision technology, this paper proposes a method for identifying and locating crops in order to successfully capture crops in the process of automatic crop picking. This method innovatively combines the YOLOv3 algorithm under the DarkNet framework with the point cloud image coordinate matching method, and can achieve the goal of this paper very well. Firstly, RGB (RGB is the color representing the three channels of red, green and blue) images and depth images are obtained by using the Kinect v2 depth camera. Secondly, the YOLOv3 algorithm is used to identify the various types of target crops in the RGB images, and the feature points of the target crops are determined. Finally, the 3D coordinates of the feature points are displayed on the point cloud images. Compared with other methods, this method of crop identification has high accuracy and small positioning error, which lays a good foundation for the subsequent harvesting of crops using mechanical arms. In summary, the method used in this paper can be considered effective.

3-D Image-Driven Morphological Crop Analysis: A Novel Method for Detection of Sunflower Broomrape Initial Subsoil Parasitism

Effective control of the parasitic weed sunflower broomrape (Orobanche cumana Wallr.) can be achieved by herbicides application in early parasitism stages. However, the growing environmental concerns associated with herbicide treatments have motivated the adoption of precise chemical control approaches that detect and treat infested areas exclusively. The main challenge in developing such control practices for O. cumana lies in the fact that most of its life-cycle occurs in the soil sub-surface and by the time shoots emerge and become observable, the damage to the crop is irreversible. This paper approaches early O. cumana detection by hypothesizing that its parasitism already impacts the host plant morphology at the sub-soil surface developmental stage. To validate this hypothesis, O. cumana- infested sunflower and non-infested control plants were grown in pots and imaged weekly over 45-day period. Three-dimensional plant models were reconstructed using image-based multi-view stereo followed by derivation of their morphological parameters, down to the organ-level. Among the parameters estimated, height and first internode length were the earliest definitive indicators of infection. Furthermore, the detection timing of both parameters was early enough for herbicide post-emergence application. Considering the fact that 3-D morphological modeling is nondestructive, is based on commercially available RGB sensors and can be used under natural illumination; this approach holds potential contribution for site specific pre-emergence managements of parasitic weeds and as a phenotyping tool in O. cumana resistant sunflower breeding projects.

A new method for non-invasive biomass determination based on stereo photogrammetry

A novel, non-destructive method for the biomass estimation of biological samples on culture dishes was developed. To achieve this, a photogrammetric system, which consists of a digital single-lens reflex camera (DSLR), an illuminated platform where the culture dishes are positioned and an Arduino board which controls the capturing process, was constructed. The camera was mounted on a holder which set the camera at different title angles and the platform rotated, to capture images from different directions. A software, based on stereo photogrammetry, was developed for the three-dimensional (3D) reconstruction of the samples. The proof-of-concept was demonstrated in a series of experiments with plant tissue cultures and specifically with calli cultures of Salvia fruticosa and Ocimum basilicum. For a period of 14 days images of these cultures were acquired and 3D-reconstructions and volumetric data were obtained. The volumetric data correlated well with the experimental measurements and made the calculation of the specific growth rate, µ _max, possible. The µ _max value for S. fruticosa samples was 0.14 day^-1 and for O. basilicum 0.16 day^-1. The developed method demonstrated the high potential of this photogrammetric approach in the biological sciences.

Influence of Wind Speed on RGB-D Images in Tree Plantations

Weather conditions can affect sensors’ readings when sampling outdoors. Although sensors are usually set up covering a wide range of conditions, their operational range must be established. In recent years, depth cameras have been shown as a promising tool for plant phenotyping and other related uses. However, the use of these devices is still challenged by prevailing field conditions. Although the influence of lighting conditions on the performance of these cameras has already been established, the effect of wind is still unknown. This study establishes the associated errors when modeling some tree characteristics at different wind speeds. A system using a Kinect v2 sensor and a custom software was tested from null wind speed up to 10 m·s⁻¹. Two tree species with contrasting architecture, poplars and plums, were used as model plants. The results showed different responses depending on tree species and wind speed. Estimations of Leaf Area (LA) and tree volume were generally more consistent at high wind speeds in plum trees. Poplars were particularly affected by wind speeds higher than 5 m·s⁻¹. On the contrary, height measurements were more consistent for poplars than for plum trees. These results show that the use of depth cameras for tree characterization must take into consideration wind conditions in the field. In general, 5 m·s⁻¹ (18 km·h⁻¹) could be established as a conservative limit for good estimations.

An Approach to the Use of Depth Cameras for Weed Volume Estimation

The use of depth cameras in precision agriculture is increasing day by day. This type of sensor has been used for the plant structure characterization of several crops. However, the discrimination of small plants, such as weeds, is still a challenge within agricultural fields. Improvements in the new Microsoft Kinect v2 sensor can capture the details of plants. The use of a dual methodology using height selection and RGB (Red, Green, Blue) segmentation can separate crops, weeds, and soil. This paper explores the possibilities of this sensor by using Kinect Fusion algorithms to reconstruct 3D point clouds of weed-infested maize crops under real field conditions. The processed models showed good consistency among the 3D depth images and soil measurements obtained from the actual structural parameters. Maize plants were identified in the samples by height selection of the connected faces and showed a correlation of 0.77 with maize biomass. The lower height of the weeds made RGB recognition necessary to separate them from the soil microrelief of the samples, achieving a good correlation of 0.83 with weed biomass. In addition, weed density showed good correlation with volumetric measurements. The canonical discriminant analysis showed promising results for classification into monocots and dictos. These results suggest that estimating volume using the Kinect methodology can be a highly accurate method for crop status determination and weed detection. It offers several possibilities for the automation of agricultural processes by the construction of a new system integrating these sensors and the development of algorithms to properly process the information provided by them.

Structured Light-Based 3D Reconstruction System for Plants

Camera-based 3D reconstruction of physical objects is one of the most popular computer vision trends in recent years. Many systems have been built to model different real-world subjects, but there is lack of a completely robust system for plants. This paper presents a full 3D reconstruction system that incorporates both hardware structures (including the proposed structured light system to enhance textures on object surfaces) and software algorithms (including the proposed 3D point cloud registration and plant feature measurement). This paper demonstrates the ability to produce 3D models of whole plants created from multiple pairs of stereo images taken at different viewing angles, without the need to destructively cut away any parts of a plant. The ability to accurately predict phenotyping features, such as the number of leaves, plant height, leaf size and internode distances, is also demonstrated. Experimental results show that, for plants having a range of leaf sizes and a distance between leaves appropriate for the hardware design, the algorithms successfully predict phenotyping features in the target crops, with a recall of 0.97 and a precision of 0.89 for leaf detection and less than a 13-mm error for plant size, leaf size and internode distance.