Clustering of Laser Scanner Perception Points of Maize Plants

Publication Type

Conference proceedings

Authors

Reiser, D., Vázquez-Arellano, M., Garrido Izard, M., Paraforos, D.S., Sharipov, G., Griepentrog, H.W.

Year of publication

2017

Published in

Advances in Animal Biosciences

Band/Volume

8/2

DOI

10.1017/S204047001700111X

Page (from - to)

204-209

Conference name

The 11th European Conference on Precision Agriculture (ECPA 2017)

Conference location

Edinburgh

Conference date

16-20 July

The goal of this work was to cluster maize plants perception points under six different growth stages in noisy 3D point clouds with known positions. The 3D point clouds were assembled with a 2D laser scanner mounted at the front of a mobile robot, fusing the data with the precise robot position, gained by a total station and an Inertial Measurement Unit. For clustering the single plants in the resulting point cloud, a graph-cut based algorithm was used. The algorithm results were compared with the corresponding measured values of plant height and stem position. An accuracy for the estimated height of 1.55 cm and the stem position of 2.05 cm was achieved.