Assessing the Performance of RGB-D Sensors for 3D Fruit Crop Canopy Characterization under Different Operating and Lighting Conditions
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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.
Is part ofSensors, 2020, vol. 20, num. 7072
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Except where otherwise noted, this item's license is described as cc-by (c) Gené Mola, Jordi et al., 2020
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Gené Mola, Jordi; Llorens Calveras, Jordi; Rosell Polo, Joan Ramon; Gregorio López, Eduard; Arnó Satorra, Jaume; Solanelles Batlle, Francesc; Martínez Casasnovas, José Antonio; Escolà i Agustí, Alexandre (Universitat de Lleida, 2020-11)The Kinect Evaluation in Orchard conditions (KEvOr) dataset is comprised of a set of RGB-D captures carried out with the Microsoft Kinect v2 to evaluate the performance of this sensor at different lighting conditions in ...
Rosell Polo, Joan Ramon; Gregorio López, Eduard; Gené Mola, Jordi; Llorens Calveras, Jordi; Torrent Martí, Xavier; Arnó Satorra, Jaume; Escolà i Agustí, Alexandre (Institute of Electrical and Electronics Engineers (IEEE), 2017-02-02)Mobile terrestrial laser scanners (MTLS), based on light detection and ranging (LiDAR) sensors, are used worldwide in agricultural applications. MTLS are applied to characterize the geometry and the structure of plants and ...
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