1,790 research outputs found

    Local Motion Planner for Autonomous Navigation in Vineyards with a RGB-D Camera-Based Algorithm and Deep Learning Synergy

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    With the advent of agriculture 3.0 and 4.0, researchers are increasingly focusing on the development of innovative smart farming and precision agriculture technologies by introducing automation and robotics into the agricultural processes. Autonomous agricultural field machines have been gaining significant attention from farmers and industries to reduce costs, human workload, and required resources. Nevertheless, achieving sufficient autonomous navigation capabilities requires the simultaneous cooperation of different processes; localization, mapping, and path planning are just some of the steps that aim at providing to the machine the right set of skills to operate in semi-structured and unstructured environments. In this context, this study presents a low-cost local motion planner for autonomous navigation in vineyards based only on an RGB-D camera, low range hardware, and a dual layer control algorithm. The first algorithm exploits the disparity map and its depth representation to generate a proportional control for the robotic platform. Concurrently, a second back-up algorithm, based on representations learning and resilient to illumination variations, can take control of the machine in case of a momentaneous failure of the first block. Moreover, due to the double nature of the system, after initial training of the deep learning model with an initial dataset, the strict synergy between the two algorithms opens the possibility of exploiting new automatically labeled data, coming from the field, to extend the existing model knowledge. The machine learning algorithm has been trained and tested, using transfer learning, with acquired images during different field surveys in the North region of Italy and then optimized for on-device inference with model pruning and quantization. Finally, the overall system has been validated with a customized robot platform in the relevant environment

    Applications of Image Processing in Viticulture: A Review

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    The production of high quality grapes for wine making is challenging. Significant progress has been made in the automated prediction of harvest yields from images but the analysis of images to predict the quality of the harvest has yet to be fully addressed. The quality of wine produced depends in part on the quality of the grapes harvested and therefore on the presence of disease in the vineyard. There is potential for automated early detection of disease in grape crops through the development of accurate techniques for image processing. This paper presents a review of current research and highlights some of the key challenges for geo-computation (image processing, computer vision and data mining techniques) to inform the management of vineyards and highlights the key challenges for in-field image capture and analysis. An exploration of potential applications for the knowledge generated by imaging techniques is then presented. This discussion is driven by the current interest in the effect of rapid and dramatic climate change on the production of wine and focuses on how this information might be utilized to inform the design and validation of accurate predictive models

    High-throughput phenotyping of yield parameters for modern grapevine breeding

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    Weinbau wird auf 1% der deutschen Agrarfläche betrieben. Auf dieser vergleichsweise kleinen Anbaufläche wird jedoch ein Drittel aller in der deutschen Landwirtschaft verwendeten Fungizide appliziert, was auf die Einführung von Schaderregern im 19. Jahrhundert zurück zu führen ist. Für einen nachhaltigen Anbau ist eine Reduktion des Pflanzenschutzmittelaufwands dringend notwendig. Dieses Ziel kann durch die Züchtung und den Anbau neuer, pilzwiderstandsfähiger Rebsorten erreicht werden. Die Rebenzüchtung als solche ist sehr zeitaufwendig, da die Entwicklung neuer Rebsorten 20 bis 25 Jahre dauert. Der Einsatz der markergestützten Selektion (MAS) erhöht die Effizienz der Selektion in der Rebenzüchtung fortwährend. Eine weitere Effizienzsteigerung ist mit der andauernden Verbesserung der Hochdurchsatz Genotypisierung zu erwarten. Im Vergleich zu den Methoden der Genotypisierung ist die Qualität, Objektivität und Präzision der traditionellen Phänotypisierungsmethoden begrenzt. Die Effizienz in der Rebenzüchtung soll mit der Entwicklung von Hochdurchsatz Methoden zur Phänotypisierung durch sensorgestützte Selektion weiter gesteigert werden. Hierfür sind bisher vielfältige Sensortechniken auf dem Markt verfügbar. Das Spektrum erstreckt sich von RGB-Kameras über Multispektral-, Hyperspektral-, Wärmebild- und Fluoreszenz- Kameras bis hin zu 3D-Techniken und Laserscananwendungen. Die Phänotypisierung von Pflanzen kann unter kontrollierten Bedingungen in Klimakammern oder Gewächshäusern beziehungsweise im Freiland stattfinden. Die Möglichkeit einer standardisierten Datenaufnahme nimmt jedoch kontinuierlich ab. Bei der Rebe als Dauerkultur erfolgt die Aufnahme äußerer Merkmale, mit Ausnahme junger Sämlinge, deshalb auch überwiegend im Freiland. Variierende Lichtverhältnisse, Ähnlichkeit von Vorder- und Hintergrund sowie Verdeckung des Merkmals stellen aus methodischer Sicht die wichtigsten Herausforderungen in der sensorgestützen Merkmalserfassung dar. Bis heute erfolgt die Aufnahme phänotypischer Merkmale im Feld durch visuelle Abschätzung. Hierbei werden die BBCH Skala oder die OIV Deskriptoren verwendet. Limitierende Faktoren dieser Methoden sind Zeit, Kosten und die Subjektivität bei der Datenerhebung. Innerhalb des Züchtungsprogramms kann daher nur ein reduziertes Set an Genotypen für ausgewählte Merkmale evaluiert werden. Die Automatisierung, Präzisierung und Objektivierung phänotypischer Daten soll dazu führen, dass (1) der bestehende Engpass an phänotypischen Methoden verringert, (2) die Effizienz der Rebenzüchtung gesteigert, und (3) die Grundlage zukünftiger genetischer Studien verbessert wird, sowie (4) eine Optimierung des weinbaulichen Managements stattfindet. Stabile und über die Jahre gleichbleibende Erträge sind für eine Produktion qualitativ hochwertiger Weine notwendig und spielen daher eine Schlüsselrolle in der Rebenzüchtung. Der Fokus dieser Studie liegt daher auf Ertragsmerkmalen wie der Beerengröße, Anzahl der Beeren pro Traube und Menge der Trauben pro Weinstock. Die verwandten Merkmale Traubenarchitektur und das Verhältnis von generativem und vegetativem Wachstum wurden zusätzlich bearbeitet. Die Beurteilung von Ertragsmerkmalen auf Einzelstockniveau ist aufgrund der genotypischen Varianz und der Vielfältigkeit des betrachteten Merkmals komplex und zeitintensiv. Als erster Schritt in Richtung Hochdurchsatz (HT) Phänotypisierung von Ertragsmerkmalen wurden zwei voll automatische Bildinterpretationsverfahren für die Anwendung im Labor entwickelt. Das Cluster Analysis Tool (CAT) ermöglicht die bildgestützte Erfassung der Traubenlänge, -breite und -kompaktheit, sowie der Beerengröße. Informationen über Anzahl, Größe (Länge, Breite) und das Volumen der einzelnen Beeren liefert das Berry Analysis Tool (BAT). Beide Programme ermöglichen eine gleichzeitige Erhebung mehrerer, präziser phänotypischer Merkmale und sind dabei schnell, benutzerfreundlich und kostengünstig. Die Möglichkeit, den Vorder- und Hintergrund in einem Freilandbild zu unterscheiden, ist besonders in einem frühen Entwicklungsstadium der Rebe aufgrund der fehlenden Laubwand schwierig. Eine Möglichkeit, die beiden Ebenen in der Bildanalyse zu trennen, ist daher unerlässlich. Es wurde eine berührungsfreie, schnelle sowie objektive Methode zur Bestimmung des Winterschnittholzgewichts, welches das vegetative Wachstum der Rebe beschreibt, entwickelt. In einem innovativen Ansatz wurde unter Kombination von Tiefenkarten und Bildsegmentierung die sichtbare Winterholzfläche im Bild bestimmt. Im Zuge dieser Arbeit wurde die erste HT Phänotypisierungspipeline für die Rebenzüchtung aufgebaut. Sie umfasst die automatisierte Bildaufnahme im Freiland unter Einsatz des PHENObots, das Datenmanagement mit Datenanalyse sowie die Interpretation des erhaltenen phänotypischen Datensatzes. Die Basis des PHENObots ist ein automatisiert gesteuertes Raupenfahrzeug. Des Weiteren umfasst er ein Multi-Kamera- System, ein RTK-GPS-System und einen Computer zur Datenspeicherung. Eine eigens entwickelte Software verbindet die Bilddaten mit der Standortreferenz. Diese Referenz wird anschließend für das Datenmanagement in einer Datenbank verwendet. Um die Funktionalität der Phänotypisierungspipeline zu demonstrieren, wurden die Merkmale Beerengröße und -farbe im Rebsortiment des Geilweilerhofes unter Verwendung des Berries In Vineyard (BIVcolor) Programms erfasst. Im Durschnitt werden 20 Sekunden pro Weinstock für die Bildaufnahme im Feld benötigt, gefolgt von der Extraktion der Merkmale mittels automatischer, objektiver und präziser Bildauswertung. Im Zuge dieses Versuches konnten mit dem PHENObot 2700 Weinstöcke in 12 Stunden erfasst werden, gefolgt von einer automatischen Bestimmung der Merkmale Beerengröße und -farbe aus den Bildern. Damit konnte die grundsätzliche Machbarkeit bewiesen werden. Diese Pilotpipeline bietet nun die Möglichkeit zur Entwicklung weiterer innovativer Programme zur Erhebung neuer Merkmale sowie die Integration zusätzlicher Sensoren auf dem PHENObot.Grapevine is grown on about 1% of the German agricultural area requiring one third of all fungicides sprayed due to pathogens being introduced within the 19th century. In spite of this requirement for viticulture a reduction is necessary to improve sustainability. This objective can be achieved by growing fungus resistant grapevine cultivars. The development of new cultivars, however, is very time-consuming, taking 20 to 25 years. In recent years the breeding process could be increased considerably by using marker assisted selection (MAS). Further improvements of MAS applications in grapevine breeding will come along with developing of faster and more cost efficient high-throughput (HT) genotyping methods.Complementary to genotyping techniques the quality, objectivity and precision of current phenotyping methods is limited and HT phenotyping methods need to be developed to further increase the efficiency of grapevine breeding through sensor assisted selection. Many different types of sensors technologies are available ranging from visible light sensors (Red Green Blue (RGB) cameras), multispectral, hyperspectral, thermal, and fluorescence cameras to three dimensional (3D) camera and laser scan approaches. Phenotyping can either be done under controlled environments (growth chamber, greenhouse) or can take place in the field, with a decreasing level of standardization. Except for young seedlings, grapevine as a perennial plant needs ultimately to be screened in the field. From a methodological point of view a variety of challenges need to be considered like the variable light conditions, the similarity of fore- and background, and in the canopy hidden traits.The assessment of phenotypic data in grapevine breeding is traditionally done directly in the field by visual estimations. In general the BBCH scale is used to acquire and classify the stages of annual plant development or OIV descriptors are applied to assess the phenotypes into classes. Phenotyping is strongly limited by time, costs and the subjectivity of records. Therefore, only a comparably small set of genotypes is evaluated for certain traits within the breeding process. Due to that limitation, automation, precision and objectivity of phenotypic data evaluation is crucial in order to (1) reduce the existing phenotyping bottleneck, (2) increase the efficiency of grapevine breeding, (3) assist further genetic studies and (4) ensure improved vineyard management. In this theses emphasis was put on the following aspects: Balanced and stable yields are important to ensure a high quality wine production playing a key role in grapevine breeding. Therefore, the main focus of this study is on phenotyping different parameters of yield such as berry size, number of berries per cluster, and number of clusters per vine. Additionally, related traits like cluster architecture and vine balance (relation between vegetative and generative growth) were considered. Quantifying yield parameters on a single vine level is challenging. Complex shapes and slight variations between genotypes make it difficult and very time-consuming.As a first step towards HT phenotyping of yield parameters two fully automatic image interpretation tools have been developed for an application under controlled laboratory conditions to assess individual yield parameters. Using the Cluster Analysis Tool (CAT) four important phenotypic traits can be detected in one image: Cluster length, cluster width, berry size and cluster compactness. The utilization of the Berry Analysis Tool (BAT) provides information on number, size (length and width), and volume of grapevine berries. Both tools offer a fast, user-friendly and cheap procedure to provide several precise phenotypic features of berries and clusters at once with dimensional units in a shorter period of time compared to manual measurements.The similarity of fore- and background in an image captured under field conditions is especially difficult and crucial for image analysis at an early grapevine developmental stage due to the missing canopy. To detect the dormant pruning wood weight, partly determining vine balance, a fast and non-invasive tool for objective data acquisition in the field was developed. In an innovative approach it combines depth map calculation and image segmentation to subtract the background of the vine obtaining the pruning area visible in the image. For the implementation of HT field phenotyping in grapevine breeding a phenotyping pipeline has been set up. It ranges from the automated image acquisition directly in the field using the PHENObot, to data management, data analysis and the interpretation of obtained phenotypic data for grapevine breeding aims. The PHENObot consists of an automated guided tracked vehicle system, a calibrated multi camera system, a Real-Time-Kinematic GPS system and a computer for image data handling. Particularly developed software was applied in order to acquire geo referenced images directly in the vineyard. The geo-reference is afterwards used for the post-processing data management in a database. As phenotypic traits to be analysed within the phenotyping pipeline the detection of berries and the determination of the berry size and colour were considered. The highthroughput phenotyping pipeline was tested in the grapevine repository at Geilweilerhof to extract the characteristics of berry size and berry colour using the Berries In Vineyards (BIVcolor) tool. Image data acquisition took about 20 seconds per vine, which afterwards was followed by the automatic image analysis to extract objective and precise phenotypic data. In was possible to capture images of 2700 vines within 12 hours using the PHENObot and subsequently automatic analysis of the images and extracting berry size and berry colour. With this analysis proof of principle was demonstrated. The pilot pipeline providesthe basis for further development of additional evaluation modules as well as the integration of other sensors

    Development of a new non-invasive vineyard yield estimation method based on image analysis

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    Doutoramento em Engenharia Agronómica / Instituto Superior de Agronomia. Universidade de LisboaPredicting vineyard yield with accuracy can provide several advantages to the whole vine and wine industry. Today this is majorly done using manual and sometimes destructive methods, based on bunch samples. Yield estimation using computer vision and image analysis can potentially perform this task extensively, automatically, and non-invasively. In the present work this approach is explored in three main steps: image collection, occluded fruit estimation and image traits conversion to mass. On the first step, grapevine images were collected in field conditions along some of the main grapevine phenological stages. Visible yield components were identified in the image and compared to ground truth. When analyzing inflorescences and bunches, more than 50% were occluded by leaves or other plant organs, on three cultivars. No significant differences were observed on bunch visibility after fruit set. Visible bunch projected area explained an average of 49% of vine yield variation, between veraison and harvest. On the second step, vine images were collected, in field conditions, with different levels of defoliation intensity at bunch zone. A regression model was computed combining canopy porosity and visible bunch area, obtained via image analysis, which explained 70-84% of bunch exposure variation. This approach allowed for an estimation of the occluded fraction of bunches with average errors below |10|%. No significant differences were found between the model’s output at veraison and harvest. On the last step, the conversion of bunch image traits into mass was explored in laboratory and field conditions. In both cases, cultivar differences related to bunch architecture were found to affect weight estimation. A combination of derived variables which included visible bunch area, estimated total bunch area, visible bunch perimeter, visible berry number and bunch compactness was used to estimate yield on undisturbed grapevines. The final model achieved a R2 = 0.86 between actual and estimated yield (n = 213). If performed automatically, the final approach suggested in this work has the potential to provide a non-invasive method that can be performed accurately across whole vineyards.N/

    A systematic literature review

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    Barriguinha, A., Neto, M. D. C., & Gil, A. (2021). Vineyard yield estimation, prediction, and forecasting: A systematic literature review. Agronomy, 11(9), 1-27. [1789]. https://doi.org/10.3390/agronomy11091789Purpose—knowing in advance vineyard yield is a critical success factor so growers and winemakers can achieve the best balance between vegetative and reproductive growth. It is also essential for planning and regulatory purposes at the regional level. Estimation errors are mainly due to the high inter-annual and spatial variability and inadequate or poor performance sampling methods; therefore, improved applied methodologies are needed at different spatial scales. This paper aims to identify the alternatives to traditional estimation methods. Design/methodology/approach—this study consists of a systematic literature review of academic articles indexed on four databases collected based on multiple query strings conducted on title, abstract, and keywords. The articles were reviewed based on the research topic, methodology, data requirements, practical application, and scale using PRISMA as a guideline. Findings—the methodological approaches for yield estimation based on indirect methods are primarily applicable at a small scale and can provide better estimates than the traditional manual sampling. Nevertheless, most of these approaches are still in the research domain and lack practical applicability in real vineyards by the actual farmers. They mainly depend on computer vision and image processing algorithms, data-driven models based on vegetation indices and pollen data, and on relating climate, soil, vegetation, and crop management variables that can support dynamic crop simulation models. Research limitations—this work is based on academic articles published before June 2021. Therefore, scientific outputs published after this date are not included. Originality/value—this study contributes to perceiving the approaches for estimating vineyard yield and identifying research gaps for future developments, and supporting a future research agenda on this topic. To the best of the authors’ knowledge, it is the first systematic literature review fully dedicated to vineyard yield estimation, prediction, and forecasting methods.publishersversionpublishe

    Vineyard yield estimation using image analysis – a review

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    Mestrado em Engenharia de Viticultura e Enologia (Double degree) / Instituto Superior de Agronomia. Universidade de Lisboa / Faculdade de Ciências. Universidade do PortoYield estimation is one of the main goals of the wine industry, this because with an accurate yield estimation it is possible to have a significant reduction in production costs and a better management of the wine industry. Traditional methods for yield estimation are laborious and time consuming, for these reasons in the last years we are witnessing to the development of new methodologies, most of which are based on image analysis. Thanks to the continuous updating and improvement of the computer vision techniques and of the robotic platforms, image analysis applied to the yield estimation is becoming more and more efficient. In fact the results shown by the different studies are very satisfying, at least as regards the estimation of what is possible to see, while are under development several procedures which have the objective to estimate what is not possible to see, due to bunch occlusion by leaves and by others clusters. I this work the different methodologies and the different approaches used for yield estimation are described, including both traditional methods and new approaches based on image analysis, in order to present the advantages and disadvantages of each of themN/

    Yield Prognosis for the Agrarian Management of Vineyards using Deep Learning for Object Counting

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    In various applications, the counting of objects based on image data plays a pivotal role. In this paper we first conducted a literature review to display the state of the art in counting objects and summarized the results by extracting several important concepts that describe the counting problem as well as the solution. In a second step we applied this knowledge to yield prognosis in vineyards, where we used Deep Learning models to detect the objects. While these methods used in the detection step are state of the art and perform very well, several problems are usually introduced by the constraint of only counting an object once in the counting step. We provide a solution for this common problem by identifying unique objects and tracking them throughout a sequence of images in order to avoid counting objects more than once, resulting in an automated yield prognosis model for vineyards
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