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This is the ACFR Agriculture page. We're working to de-wikiise it as much as possible!

 

Almonds Posts:

Autonomy in the Orchard
James P. Underwood [X] posted on Feb 27, 2014
One of our research ground vehicles, Mantis, was used to successfully demonstrate autonomy at an almond orchard.

The robot uses its forward looking laser to estimate the geometry of the tree foliage in front, enabling it to drive along the row without needing GPS. Additionally, it can detect people out in front, slowing down and coming to a safe halt.

The video shows a conceptual demonstration of how this could be used as a farmer assistance mechanism, whereby the vehicle could accompany a farmer, carrying heavy loads such as buckets of fruit, or towing other forms of equipment. Although demonstrated on one of our Perception Research Ground Vehicles (Mantis), the core technology can easily be applied to existing or new farm machinery.

GPS can be unreliable under canopied environments, due to occlusions between the vehicle and satellites. Therefore, forms of autonomy that require no GPS are likely to be more reliable.

Segmentation and recognition of individual trees
James P. Underwood [X] posted on Feb 26, 2014
Using lidar (laser) data, individual trees can be segmented, counted and mapped, allowing information on the farm to be associated per tree.

As "Shrimp" drives along a row of an orchard, 3D maps are built from laser data. From this, we can segment and recognise individual trees, which is useful for data management. For example, when combined with our yield estimation techniques, it allows us to measure and associate the yield of each individual tree. This can be used to track information, such as yield, over time and it can be used actively, for example, to target autonomous or computer assisted spray trucks with spray programs for each tree.

 

 

 

 

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