Detection of grassland mowing frequency using time series of vegetation indices from Sentinel-2 imagery

5openInternationalItalian coauthor/editorManagement intensity deeply influences meadow structure and functioning, therefore affecting grassland ecosystem services. Conservation and management measures, including European Common Agricultural Policy subsidies, should therefore be based on updated and publicly available data about management intensity. The mowing frequency is a crucial trait to describe meadows management intensity, but the potential of using vegetation indices from Sentinel-2 imagery for its retrieval has not been fully exploited. In this work we developed on the Google Earth Engine platform a four-phases algorithm to identify mowing frequency, including i) vegetation index time-series computing, ii) smoothing and resampling, iii) mowing detection, and iv) majority analysis. Mowing frequency during 2020 of 240 ha of grassland fields in the Italian Alps was used for algorithm optimization and evaluation. Six vegetation indexes (EVI, GVMI, MTCI, NDII, NDVI, RENDVI783.740) were tested as input to the proposed algorithm. The Normalized Difference Infrared Index (NDII) showed the best performance, resulting in mean absolute error of 0.07 and 93% overall accuracy on average at the four sites used for optimization, at pixel resolution. A slightly lower accuracy (mean absolute error = 0.10, overall accuracy = 90%) was obtained aggregating the maps to management parcels. The algorithm showed a good generalization ability, with a similar performance between global and local optimization and an average mean absolute error of 0.12 and an overall accuracy of 89% on average on the sites not used for parameters optimization. The lowest accuracies occurred in intensively managed grasslands surveyed by one satellite orbit only. This study demonstrates the suitability of the proposed algorithm to monitor very fragmented grasslands in complex mountain ecosystems. Google Earth Engine was used to develop the model and will enable researchers, agencies and practitioners to easily and quickly apply the code to map grassland mowing frequency for extensive grasslands protection and conservation, for mowing event verification, or for forage system characterization.openAndreatta, Davide; Gianelle, Damiano; Scotton, Michele; Vescovo, Loris; Dalponte, MicheleAndreatta, D.; Gianelle, D.; Scotton, M.; Vescovo, L.; Dalponte, M

Suivi écologique des prairies semi-naturelles : analyse statistique de séries temporelles denses d'images satellite à haute résolution spatiale

ID ProdINRA 415874Grasslands are a significant source of biodiversity in farmed landscapes that is important to monitor. New generation satellites such as Sentinel-2 offer new opportunities for grassland’s monitoring thanks to their combined high spatial and temporal resolutions. Conversely, the new type of data provided by these sensors involves big data and high dimensional issues because of the increasing number of pixels to process and the large number of spectro-temporal variables. This thesis explores the potential of the new generation satellites to monitor biodiversity and factors that influence biodiversity in semi-natural grasslands. Tools suitable for the statistical analysis of grasslands using dense satellite image time series (SITS) with high spatial resolution are provided. First, we show that the spectro-temporal response of grasslands is characterized by its variability within and among the grasslands. Then, for the statistical analysis, grasslands are modeled at the object level to be consistent with ecological models that represent grasslands at the field scale. We propose to model the distribution of pixels in a grassland by a Gaussian distribution. Following this modeling, similarity measures between two Gaussian distributions robust to the high dimension are developed for the classification of grasslands using dense SITS: the High-Dimensional Kullback-Leibler Divergence and the α-Gaussian Mean Kernel. The latter out-performs conventional methods used with Support Vector Machines for the classification of grasslands according to their management practices and to their age. Finally, indicators of grassland biodiversity issued from dense SITS are proposed through spectro-temporal heterogeneity measures derived from the unsupervised clustering of grasslands. Their correlation with the Shannon index is significant but low. The results suggest that the spectro-temporal variations measured from SITS at a spatial resolution of 10 meters covering the period when the practices occur are more related to the intensity of management practices than to the species diversity. Therefore, although the spatial and spectral properties of Sentinel-2 seem limited to assess the species diversity in grasslands directly, this satellite should make possible the continuous monitoring of factors influencing biodiversity in grasslands. In this thesis, we provided methods that account for the heterogeneity within grasslands and enable the use of all the spectral andtemporal information provided by new generation satellites.Les prairies représentent une source importante de biodiversité dans les paysages agricoles qu’il est important de surveiller. Les satellites de nouvelle génération tels que Sentinel-2 offrent de nouvelles opportunités pour le suivi des prairies grâce à leurs hautes résolutions spatiale et temporelle combinées. Cependant, le nouveau type de données fourni par ces satellites implique des problèmes liés au big data et à la grande dimension des données en raison du nombre croissant de pixels à traiter et du nombre élevé de variables spectro-temporelles. Cette thèse explore le potentiel des satellites de nouvelle génération pour le suivi de la biodiversité et des facteurs qui influencent la biodiversité dans les prairies semi-naturelles. Des outils adaptés à l’analyse statistique des prairies à partir de séries temporelles d’images satellites (STIS) denses à haute résolution spatiale sont proposés. Tout d’abord, nous montrons que la réponse spectro-temporelle des prairies est caractérisée par sa variabilité au sein des prairies et parmi les prairies. Puis, pour les analyses statistiques, les prairies sont modélisées à l’échelle de l’objet pour être cohérent avec les modèles écologiques qui représentent les prairies à l’échelle de la parcelle. Nous proposons de modéliser la distribution des pixels dans une prairie par une loi gaussienne. A partir de cette modélisation, des mesures de similarité entre deux lois gaussiennes robustes à la grande dimension sont développées pour la classification des prairies en utilisant des STIS denses: High-Dimensional Kullback-Leibler Divergence et α-Gaussian Mean Kernel. Cette dernière est plus performante que les méthodes conventionnelles utilisées avec les machines à vecteur de support (SVM) pour la classification du mode de gestion et de l’âge des prairies. Enfin, des indicateurs de biodiversité des prairies issus de STIS denses sont proposés à travers des mesures d’hétérogénéité spectro-temporelle dérivées du clustering non supervisé des prairies. Leur corrélation avec l’indice de Shannon est significative mais faible. Les résultats suggèrent que les variations spectro-temporelles mesurées à partir de STIS à 10 mètres de résolution spatiale et qui couvrent la période où ont lieu les pratiques agricoles sont plus liées à l’intensité des pratiques qu’à la diversité en espèces. Ainsi, bien que les propriétés spatiales et temporelles de Sentinel-2 semblent limitées pour estimer directement la diversité en espèces des prairies, ce satellite devrait permettre le suivi continu des facteurs influençant la biodiversité dans les prairies. Dans cette thèse, nous avons proposé des méthodes qui prennent en compte l’hétérogénéité au sein des prairies et qui permettent l’utilisation de toute l’information spectrale et temporelle fournie par les satellites de nouvelle génération

Ecological monitoring of semi-natural grasslands : statistical analysis of dense satellite image time series with high spatial resolution

Grasslands are a significant source of biodiversity in farmed landscapes that is important to monitor. New generation satellites such as Sentinel-2 offer new opportunities for grassland’s monitoring thanks to their combined high spatial and temporal resolutions. Conversely, the new type of data provided by these sensors involves big data and high dimensional issues because of the increasing number of pixels to process and the large number of spectro-temporal variables. This thesis explores the potential of the new generation satellites to monitor biodiversity and factors that influence biodiversity in semi-natural grasslands. Tools suitable for the statistical analysis of grasslands using dense satellite image time series (SITS) with high spatial resolution are provided. First, we show that the spectro-temporal response of grasslands is characterized by its variability within and among the grasslands. Then, for the statistical analysis, grasslands are modeled at the object level to be consistent with ecological models that represent grasslands at the field scale. We propose to model the distribution of pixels in a grassland by a Gaussian distribution. Following this modeling, similarity measures between two Gaussian distributions robust to the high dimension are developed for the lassification of grasslands using dense SITS: the High-Dimensional Kullback-Leibler Divergence and the -Gaussian Mean Kernel. The latter outperforms conventional methods used with Support Vector Machines for the classification of grasslands according to their management practices and to their age. Finally, indicators of grassland biodiversity issued from dense SITS are proposed through spectro-temporal heterogeneity measures derived from the unsupervised clustering of grasslands. Their correlation with the Shannon index is significant but low. The results suggest that the spectro-temporal variations measured from SITS at a spatial resolution of 10 meters covering the period when the practices occur are more related to the intensity of management practices than to the species diversity. Therefore, although the spatial and spectral properties of Sentinel-2 seem limited to assess the species diversity in grasslands directly, this satellite should make possible the continuous monitoring of factors influencing biodiversity in grasslands. In this thesis, we provided methods that account for the heterogeneity within grasslands and enable the use of all the spectral and temporal information provided by new generation satellites

Demonstration of Large Area Land Cover Classification with a One Dimensional Convolutional Neural Network Applied to Single Pixel Temporal Metric Percentiles

Over large areas, land cover classification has conventionally been undertaken using satellite time series. Typically temporal metric percentiles derived from single pixel location time series have been used to take advantage of spectral differences among land cover classes over time and to minimize the impact of missing observations. Deep convolutional neural networks (CNNs) have demonstrated potential for land cover classification of single date images. However, over large areas and using time series their application is complicated because they are sensitive to missing observations and they may misclassify small and spatially fragmented surface features due to their spatial patch-based implementation. This study demonstrates, for the first time, a one-dimensional (1D) CNN single pixel time series land classification approach that uses temporal percentile metrics and that does not have these issues. This is demonstrated for all the Conterminous United States (CONUS) considering two different 1D CNN structures with 5 and 8 layers, respectively. CONUS 30 m land cover classifications were derived using all the available Landsat-5 and -7 imagery over a seven-month growing season in 2011 with 3.3 million 30 m land cover class labelled samples extracted from the contemporaneous CONUS National Land Cover Database (NLCD) 16 class land cover product. The 1D CNNs and, a conventional random forest model, were trained using 10%, 50% and 90% samples, and the classification accuracies were evaluated with an independent 10% proportion. Temporal metrics were classified using 5, 7 and 9 percentiles for each of five Landsat reflective wavelength bands and their eight band ratios. The CONUS and detailed 150 × 150 km classification results demonstrate that the approach is effective at scale and locally. The 1D CNN classification land cover class boundaries were preserved for small axis dimension features, such as roads and rivers, with no stripes or anomalous spatial patterns. The 8-layer 1D CNN provided the highest overall classification accuracies and both the 5-layer and 8-layer 1D CNN architectures provided higher accuracies than the random forest by 1.9% - 2.8% which as all the accuracies were \u3e 83% is a meaningful increase. The CONUS overall classification accuracies increased marginally with the number of percentiles (86.21%, 86.40%, and 86.43% for 5, 7 and 9 percentiles, respectively) using the 8-layer 1D-CNN. Class specific producer and user accuracies were quantified, with lower accuracies for the developed land, crop and pasture/hay classes, but no systematic pattern among classes with respect to the number of temporal percentiles used. Application of the trained model to a different year of CONUS Landsat ARD showed moderately decreased accuracy (80.79% for 7 percentiles) that we illustrate is likely due to different intra-annual surface variations between years. These encouraging results are discussed with recommended research for deep learning using temporal metric percentiles

Just-in-time Pastureland Trait Estimation for Silage Optimization, under Limited Data Constraints

To ensure that pasture-based farming meets production and environmental targets for a growing population under increasing resource constraints, producers need to know pastureland traits. Current proximal pastureland trait prediction methods largely rely on vegetation indices to determine biomass and moisture content. The development of new techniques relies on the challenging task of collecting labelled pastureland data, leading to small datasets. Classical computer vision has already been applied to weed identification and recognition of fruit blemishes using morphological features, but machine learning algorithms can parameterise models without the provision of explicit features, and deep learning can extract even more abstract knowledge although typically this is assumed to be based around very large datasets. This work hypothesises that through the advantages of state-of-the-art deep learning systems, pastureland crop traits can be accurately assessed in a just-in-time fashion, based on data retrieved from an inexpensive sensor platform, under the constraint of limited amounts of labelled data. However the challenges to achieve this overall goal are great, and for applications such as just-in-time yield and moisture estimation for farm-machinery, this work must bring together systems development, knowledge of good pastureland practice, and also techniques for handling low-volume datasets in a machine learning context. Given these challenges, this thesis makes a number of contributions. The first of these is a comprehensive literature review, relating pastureland traits to ruminant nutrient requirements and exploring trait estimation methods, from contact to remote sensing methods, including details of vegetation indices and the sensors and techniques required to use them. The second major contribution is a high-level specification of a platform for collecting and labelling pastureland data. This includes the collection of four-channel Blue, Green, Red and NIR (VISNIR) images, narrowband data, height and temperature differential, using inexpensive proximal sensors and provides a basis for holistic data analysis. Physical data platforms built around this specification were created to collect and label pastureland data, involving computer scientists, agricultural, mechanical and electronic engineers, and biologists from academia and industry, working with farmers. Using the developed platform and a set of protocols for data collection, a further contribution of this work was the collection of a multi-sensor multimodal dataset for pastureland properties. This was made up of four-channel image data, height data, thermal data, Global Positioning System (GPS) and hyperspectral data, and is available and labelled with biomass (Kg/Ha) and percentage dry matter, ready for use in deep learning. However, the most notable contribution of this work was a systematic investigation of various machine learning methods applied to the collected data in order to maximise model performance under the constraints indicated above. The initial set of models focused on collected hyperspectral datasets. However, due to their relative complexity in real-time deployment, the focus was instead on models that could best leverage image data. The main body of these models centred on image processing methods and, in particular, the use of the so-called Inception Resnet and MobileNet models to predict fresh biomass and percentage dry matter, enhancing performance using data fusion, transfer learning and multi-task learning. Images were subdivided to augment the dataset, using two different patch sizes, resulting in around 10,000 small patches of size 156 x 156 pixels and around 5,000 large patches of size 240 x 240 pixels. Five-fold cross validation was used in all analysis. Prediction accuracy was compared to older mechanisms, albeit using hyperspectral data collected, with no provision made for lighting, humidity or temperature. Hyperspectral labelled data did not produce accurate results when used to calculate Normalized Difference Vegetation Index (NDVI), or to train a neural network (NN), a 1D Convolutional Neural Network (CNN) or Long Short Term Memory (LSTM) models. Potential reasons for this are discussed, including issues around the use of highly sensitive devices in uncontrolled environments. The most accurate prediction came from a multi-modal hybrid model that concatenated output from an Inception ResNet based model, run on RGB data with ImageNet pre-trained RGB weights, output from a residual network trained on NIR data, and LiDAR height data, before fully connected layers, using the small patch dataset with a minimum validation MAPE of 28.23% for fresh biomass and 11.43% for dryness. However, a very similar prediction accuracy resulted from a model that omitted NIR data, thus requiring fewer sensors and training resources, making it more sustainable. Although NIR and temperature differential data were collected and used for analysis, neither improved prediction accuracy, with the Inception ResNet model’s minimum validation MAPE rising to 39.42% when NIR data was added. When both NIR data and temperature differential were added to a multi-task learning Inception ResNet model, it yielded a minimum validation MAPE of 33.32%. As more labelled data are collected, the models can be further trained, enabling sensors on mowers to collect data and give timely trait information to farmers. This technology is also transferable to other crops. Overall, this work should provide a valuable contribution to the smart agriculture research space

IENE 2020 International Conference LIFE LINES – Linear Infrastructure Networks with Ecological Solutions. Abstract Book

In the past 12 to 14 of January 2021, the University of Évora, in the framework of the LIFE LINES project, and the Infrastructure and Ecology Network Europe held the online event IENE International Conference, under the theme “LIFE LINES – Linear Infrastructure Networks with Ecological Solutions”. We had 293 attendees from 40 different countries representing the five continents. During three days, participants were able to assist to 115 full oral presentations, 36 lightning talks, 13 workshops and chat with 40 posters authors, representing studies and projects worldwide. The event counted with 50 thematic sessions, running in five parallel sessions mixing live and pre-recorded interventions

SPATIAL ANALYSES AND REMOTE SENSING FOR LAND COVER CHANGE DYNAMICS: ASSESSING IN A SPATIAL PLANNING

ABSTRACT (EN) Spatial planning is a crucial discipline for the identification and implementation of sustainable development strategies that take into account the environmental impacts on the soil. In recent years, the significant development of technology, like remote sensing and GIS software, has significantly increased the understanding of environmental components, highlighting their peculiarities and criticalities. Geographically referenced information on environmental and socio-economic components represents a fundamental database for identifying and monitoring vulnerable areas, also distinguishing different levels of vulnerability. This is even more relevant considering the increasingly significant impact of land transformation processes, consisting of rapid and frequent changes in land use patterns. In order to achieve some of the Sustainable Development Goals of the 2030 Agenda, the role of environmental planning is crucial in addressing spatial problems, such as agricultural land abandonment and land take, which cause negative impacts on ecosystems. Remote sensing, and in general all Earth Observation techniques, play a key role in achieving SDG 11.3 and 15.3 of Agenda 2030. Through a series of applications and investigations in different areas of Basilicata, it has been demonstrated how the extensive use of remote sensing and spatial analysis in a GIS environment provide a substantial contribution to the results of the SDGs, enabling an informed decisionmaking process and enabling monitoring of the results expected, ensuring data reliability and directly contributing to the calculation of SDG objectives and indicators by facilitating local administrations approaches to work in different development and sustainability sectors. In this thesis have been analyse the dynamics of land transformation in terms of land take and soil erosion in sample areas of the Basilicata Region, which represents an interesting case example for the study of land use land cover change (LULCC). The socio-demographic evolutionary trends and the study of marginality and territorial fragility are fundamental aspects in the context of territorial planning, since they are important drivers of the LULCC and territorial transformation processes. In fact, in Basilicata, settlement dynamics over the years have occurred in an uncontrolled and unregulated manner, leading to a constant consumption of land not accompanied by adequate demographic and economic growth. To better understand the evolution and dynamics of the LULCCs and provide useful tools for formulating territorial planning policies and strategies aimed at a sustainable use of the territory, the socio-economic aspects of the Region were investigated. A first phase involved the creation of a database and the study and identification of essential services in the area as a fundamental parameter against which to evaluate the quality of life in a specific area. The supply of essential services can be understood as an assessment of the lack of minimum requirements with reference to the urban functions exercised by each territorial unit. From a territorial point of view, the level of peripherality of the territories with respect to the network of urban centres profoundly influences the quality of life of citizens and the level of social inclusion. In these, the presence of essential services can act as an attractor capable of generating discrete catchment areas. The purpose of this first part of the work was above all to create a dataset of data useful for the calculation of various socio-economic indicators, in order to frame the demographic evolution and the evolution of the stock of public and private services. The first methodological approach was to reconstruct the offer of essential services through the use of open data in a GIS environment and subsequently estimate the peripherality of each municipality by estimating the accessibility to essential services. The study envisaged the use of territorial analysis techniques aimed at describing the distribution of essential services on the regional territory. It is essential to understand the role of demographic dynamics as a driver of urban land use change such as, for example, the increase in demand for artificial surfaces that occurs locally. Social and economic analyses are important in the spatial planning process. Comparison of socio-economic analyses with land use and land cover change can highlight the need to modify existing policies or implement new ones. A particular land use can degrade and thereby destroy other land resources. If the economic analysis shows that the use is beneficial from the point of view of the land user, it is likely to continue, regardless of whether the process is environmentally friendly. It is important to understand and investigate which drivers have been and will be in the future the most decisive in these dynamics that intrinsically contribute to land take, agricultural abandonment and the consequent processes of land degradation and to define policies or thresholds to mitigate and monitor the effects of these processes. Subsequently, the issues of land take and abandonment of agricultural land were analysed by applying models and techniques of remote sensing, GIS and territorial analysis for the identification and monitoring of abandoned agricultural areas and sealed areas. The classic remote sensing methods have also been integrated by some geostatistical analyses which have provided more information on the investigated phenomenon. The aim was the creation of a quick methodology that would allow to describe the monitoring and analysis activities of the development trends of soil consumption and the monitoring and identification of degraded areas. The first methodology proposed allowed the automatic and rapid detection of detailed LULCC and Land Take maps with an overall accuracy of more than 90%, reducing costs and processing times. The identification of abandoned agricultural areas in degradation is among the most complicated LULCC and Land Degradation processes to identify and monitor as it is driven by a multiplicity of anthropic and natural factors. The model used to estimate soil erosion as a degradation phenomenon is the Revised Universal Soil Loss Equation (RUSLE). To identify potentially degraded areas, two factors of the RUSLE have been correlated: Factor C which describes the vegetation cover of the soil and Factor A which represents the amount of potential soil erosion. Through statistical correlation analysis with the RUSLE factors, on the basis of the deviations from the average RUSLE values and mapping of the areas of vegetation degradation, relating to arable land, through statistical correlation with the vegetation factor C, the areas were identified and mapped that are susceptible to soil degradation. The results obtained allowed the creation of a database and a map of the degraded areas to be paid attention to

IENE 2020 International Conference “LIFE LINES – Linear Infrastructure Networks with Ecological Solutions””. Programme Book,

In the past 12 to 14 of January 2021, the University of Évora, in the framework of the LIFE LINES project, and the Infrastructure and Ecology Network Europe held the online event IENE International Conference, under the theme “LIFE LINES – Linear Infrastructure Networks with Ecological Solutions”. The local organising committee of the IENE 2020 had contributors from several institutions including the Mediterranean Institute for Agriculture, Environment and Development; REN; Infrastructures of Portugal; and the Municipalities of Montemor-o-Novo and Évora. This was the first IENE International Conference entirely online and participants could attend it from home and working place, regardless of their location in the world. We had 293 confirmed attendees (from 354 registered) from 40 different countries representing the five continents. During three days, participants were able to assist to 115 full oral presentations, 36 lightning talks, 13 workshops and chat with 40 posters authors, representing studies and projects worldwide. The event counted with 50 thematic sessions, running in five parallel sessions mixing live and pre-recorded interventions

A review of technical factors to consider when designing neural networks for semantic segmentation of Earth Observation imagery

Semantic segmentation (classification) of Earth Observation imagery is a crucial task in remote sensing. This paper presents a comprehensive review of technical factors to consider when designing neural networks for this purpose. The review focuses on Convolutional Neural Networks (CNNs), Recurrent Neural Networks (RNNs), Generative Adversarial Networks (GANs), and transformer models, discussing prominent design patterns for these ANN families and their implications for semantic segmentation. Common pre-processing techniques for ensuring optimal data preparation are also covered. These include methods for image normalization and chipping, as well as strategies for addressing data imbalance in training samples, and techniques for overcoming limited data, including augmentation techniques, transfer learning, and domain adaptation. By encompassing both the technical aspects of neural network design and the data-related considerations, this review provides researchers and practitioners with a comprehensive and up-to-date understanding of the factors involved in designing effective neural networks for semantic segmentation of Earth Observation imagery.Comment: 145 pages with 32 figure

TractorEYE: Vision-based Real-time Detection for Autonomous Vehicles in Agriculture

Agricultural vehicles such as tractors and harvesters have for decades been able to navigate automatically and more efficiently using commercially available products such as auto-steering and tractor-guidance systems. However, a human operator is still required inside the vehicle to ensure the safety of vehicle and especially surroundings such as humans and animals. To get fully autonomous vehicles certified for farming, computer vision algorithms and sensor technologies must detect obstacles with equivalent or better than human-level performance. Furthermore, detections must run in real-time to allow vehicles to actuate and avoid collision.This thesis proposes a detection system (TractorEYE), a dataset (FieldSAFE), and procedures to fuse information from multiple sensor technologies to improve detection of obstacles and to generate a map. TractorEYE is a multi-sensor detection system for autonomous vehicles in agriculture. The multi-sensor system consists of three hardware synchronized and registered sensors (stereo camera, thermal camera and multi-beam lidar) mounted on/in a ruggedized and water-resistant casing. Algorithms have been developed to run a total of six detection algorithms (four for rgb camera, one for thermal camera and one for a Multi-beam lidar) and fuse detection information in a common format using either 3D positions or Inverse Sensor Models. A GPU powered computational platform is able to run detection algorithms online. For the rgb camera, a deep learning algorithm is proposed DeepAnomaly to perform real-time anomaly detection of distant, heavy occluded and unknown obstacles in agriculture. DeepAnomaly is -- compared to a state-of-the-art object detector Faster R-CNN -- for an agricultural use-case able to detect humans better and at longer ranges (45-90m) using a smaller memory footprint and 7.3-times faster processing. Low memory footprint and fast processing makes DeepAnomaly suitable for real-time applications running on an embedded GPU. FieldSAFE is a multi-modal dataset for detection of static and moving obstacles in agriculture. The dataset includes synchronized recordings from a rgb camera, stereo camera, thermal camera, 360-degree camera, lidar and radar. Precise localization and pose is provided using IMU and GPS. Ground truth of static and moving obstacles (humans, mannequin dolls, barrels, buildings, vehicles, and vegetation) are available as an annotated orthophoto and GPS coordinates for moving obstacles. Detection information from multiple detection algorithms and sensors are fused into a map using Inverse Sensor Models and occupancy grid maps. This thesis presented many scientific contribution and state-of-the-art within perception for autonomous tractors; this includes a dataset, sensor platform, detection algorithms and procedures to perform multi-sensor fusion. Furthermore, important engineering contributions to autonomous farming vehicles are presented such as easily applicable, open-source software packages and algorithms that have been demonstrated in an end-to-end real-time detection system. The contributions of this thesis have demonstrated, addressed and solved critical issues to utilize camera-based perception systems that are essential to make autonomous vehicles in agriculture a reality