Multirotor-based automated tree maturity determination in the field using monocular SLAM | |
| Author | Teera Kritpranam |
| Call Number | AIT Thesis no.CS-18-05 |
| Subject(s) | Computer vision Computer vision--Programming Vision, Monocular Three-dimensional imaging |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Computer Science, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. CS-18-05 |
| Abstract | In wood production, the implementation of automated tree maturity determination technology is af of yet unprecedented. However, advances in computer vision technology open an opportunity to bring automated tree maturity determination applications into reality. In this thesis, I present a mobile data collection platform that can be installed on a midsized multirotor UAV and an automated tree maturity determination application that automatically detects and estimates the circumference and height of individual trees from image sequences. The data collection platform is constructed with mobility in mind and is used to collect image sequences in the field at tree farms. The automated tree maturity determination application is developed based on ORB-SLAM2 and the point cloud library (PCL). It takes image sequences from the data collection platform and generates 3D point clouds representing the scene of a tree farm using a modified ORB-SLAM2 method. Then, the application detects subsets of 3D points representing individual trees and estimates the circumference and height of these trees from the detected subsets of 3D points using built-in algorithms included in the PCL. The application is able to estimate tree height and width with approximately a 22% error rate for both detection and estimation tasks. Apart from the considerable error rate, the application is a proof of concept and a prototype for using computer vision technology to estimate circumference and height of the trees in the wood production industry |
| Year | 2018 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis : no. CS-18-05 |
| 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) | Soni, Peeyush;Mongkol Ekpanyapong; |
| Scholarship Donor(s) | Thailand (HM King); |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2018 |