Automatic Model Based Dataset Generation for Fast and Accurate Crop and Weeds Detection

Selective weeding is one of the key challenges in the field of agriculture robotics. To accomplish this task, a farm robot should be able to accurately detect plants and to distinguish them between crop and weeds. Most of the promising state-of-the-art approaches make use of appearance-based models trained on large annotated datasets. Unfortunately, creating large agricultural datasets with pixel-level annotations is an extremely time consuming task, actually penalizing the usage of data-driven techniques. In this paper, we face this problem by proposing a novel and effective approach that aims to dramatically minimize the human intervention needed to train the detection and classification algorithms. The idea is to procedurally generate large synthetic training datasets randomizing the key features of the target environment (i.e., crop and weed species, type of soil, light conditions). More specifically, by tuning these model parameters, and exploiting a few real-world textures, it is possible to render a large amount of realistic views of an artificial agricultural scenario with no effort. The generated data can be directly used to train the model or to supplement real-world images. We validate the proposed methodology by using as testbed a modern deep learning based image segmentation architecture. We compare the classification results obtained using both real and synthetic images as training data. The reported results confirm the effectiveness and the potentiality of our approach.Comment: To appear in IEEE/RSJ IROS 201

Automatic Leaf Extraction from Outdoor Images

Automatic plant recognition and disease analysis may be streamlined by an image of a complete, isolated leaf as an initial input. Segmenting leaves from natural images is a hard problem. Cluttered and complex backgrounds: often composed of other leaves are commonplace. Furthermore, their appearance is highly dependent upon illumination and viewing perspective. In order to address these issues we propose a methodology which exploits the leaves venous systems in tandem with other low level features. Background and leaf markers are created using colour, intensity and texture. Two approaches are investigated: watershed and graph-cut and results compared. Primary-secondary vein detection and a protrusion-notch removal are applied to refine the extracted leaf. The efficacy of our approach is demonstrated against existing work.Comment: 13 pages, India-UK Advanced Technology Centre of Excellence in Next Generation Networks, Systems and Services (IU-ATC), 201

Texture analysis by multi-resolution fractal descriptors

This work proposes a texture descriptor based on fractal theory. The method is based on the Bouligand-Minkowski descriptors. We decompose the original image recursively into 4 equal parts. In each recursion step, we estimate the average and the deviation of the Bouligand-Minkowski descriptors computed over each part. Thus, we extract entropy features from both average and deviation. The proposed descriptors are provided by the concatenation of such measures. The method is tested in a classification experiment under well known datasets, that is, Brodatz and Vistex. The results demonstrate that the proposed technique achieves better results than classical and state-of-the-art texture descriptors, such as Gabor-wavelets and co-occurrence matrix.Comment: 8 pages, 6 figure

Fractal Descriptors in the Fourier Domain Applied to Color Texture Analysis

The present work proposes the development of a novel method to provide descriptors for colored texture images. The method consists in two steps. In the first, we apply a linear transform in the color space of the image aiming at highlighting spatial structuring relations among the color of pixels. In a second moment, we apply a multiscale approach to the calculus of fractal dimension based on Fourier transform. From this multiscale operation, we extract the descriptors used to discriminate the texture represented in digital images. The accuracy of the method is verified in the classification of two color texture datasets, by comparing the performance of the proposed technique to other classical and state-of-the-art methods for color texture analysis. The results showed an advantage of almost 3% of the proposed technique over the second best approach.Comment: Chaos, Volume 21, Issue 4, 201

Structured Light-Based 3D Reconstruction System for Plants.

Camera-based 3D reconstruction of physical objects is one of the most popular computer vision trends in recent years. Many systems have been built to model different real-world subjects, but there is lack of a completely robust system for plants. This paper presents a full 3D reconstruction system that incorporates both hardware structures (including the proposed structured light system to enhance textures on object surfaces) and software algorithms (including the proposed 3D point cloud registration and plant feature measurement). This paper demonstrates the ability to produce 3D models of whole plants created from multiple pairs of stereo images taken at different viewing angles, without the need to destructively cut away any parts of a plant. The ability to accurately predict phenotyping features, such as the number of leaves, plant height, leaf size and internode distances, is also demonstrated. Experimental results show that, for plants having a range of leaf sizes and a distance between leaves appropriate for the hardware design, the algorithms successfully predict phenotyping features in the target crops, with a recall of 0.97 and a precision of 0.89 for leaf detection and less than a 13-mm error for plant size, leaf size and internode distance

Plant image retrieval using color, shape and texture features

We present a content-based image retrieval system for plant image retrieval, intended especially for the house plant identification problem. A plant image consists of a collection of overlapping leaves and possibly flowers, which makes the problem challenging.We studied the suitability of various well-known color, shape and texture features for this problem, as well as introducing some new texture matching techniques and shape features. Feature extraction is applied after segmenting the plant region from the background using the max-flow min-cut technique. Results on a database of 380 plant images belonging to 78 different types of plants show promise of the proposed new techniques and the overall system: in 55% of the queries, the correct plant image is retrieved among the top-15 results. Furthermore, the accuracy goes up to 73% when a 132-image subset of well-segmented plant images are considered