3D modeling for agricultural field inspection robot | |
| Author | Jednipat Moonrinta |
| Call Number | AIT Thesis no.CS-10-04 |
| Subject(s) | Three-dimensional imaging Robot vision Camcorders |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Science in Computer Science, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. CS-10-04 |
| Abstract | Through automated agricultural inspection, farmers can potentially achieve better produc-tivity and accurately predict yields and crop quality. The cheapest device for collecting richinformation about a crop is the video camera. This thesis focuses on the design, implemen-tation, and evaluation of algorithms for extracting information about a pineapple crop froma monocular webcam fixed to a mobile inspection platform. The process begins with fruitdetection and tracking in video sequence. I propose a 3D modeling algorithm that workswith the tracking history to generate a 3D point cloud for each fruit using structure-from-motion techniques in computer vision. The 3D modeling algorithm consists of two mainprocedures: 3D point cloud estimation and 3D fruit shape reconstruction. Once the 3D pointcloud for a fruit is obtained, the fruit shape reconstruction method estimates the shape andsize of the fruit using a robust ellipsoid estimation technique. A series of experiments showsthat the method produces a reasonably accurate 3D field map despite only partial and oc-cluded views of the fruit. The prototype is thus a promising step towards the realization ofautomated mobile in-field agricultural inspection systems. |
| Year | 2010 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. CS-10-04 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Information and Communications Technologies (DICT) |
| Academic Program/FoS | Computer Science (CS) |
| Chairperson(s) | Dailey, Matthew N.; |
| Examination Committee(s) | Mongkol Ekpanyayong;Janecek, Paul; |
| Scholarship Donor(s) | Royal Thai Government; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2010 |