AgriColMap: Aerial-Ground Collaborative 3D Mapping for Precision Farming

The combination of aerial survey capabilities of Unmanned Aerial Vehicles with targeted intervention abilities of agricultural Unmanned Ground Vehicles can significantly improve the effectiveness of robotic systems applied to precision agriculture. In this context, building and updating a common map of the field is an essential but challenging task. The maps built using robots of different types show differences in size, resolution and scale, the associated geolocation data may be inaccurate and biased, while the repetitiveness of both visual appearance and geometric structures found within agricultural contexts render classical map merging techniques ineffective. In this paper we propose AgriColMap, a novel map registration pipeline that leverages a grid-based multimodal environment representation which includes a vegetation index map and a Digital Surface Model. We cast the data association problem between maps built from UAVs and UGVs as a multimodal, large displacement dense optical flow estimation. The dominant, coherent flows, selected using a voting scheme, are used as point-to-point correspondences to infer a preliminary non-rigid alignment between the maps. A final refinement is then performed, by exploiting only meaningful parts of the registered maps. We evaluate our system using real world data for 3 fields with different crop species. The results show that our method outperforms several state of the art map registration and matching techniques by a large margin, and has a higher tolerance to large initial misalignments. We release an implementation of the proposed approach along with the acquired datasets with this paper.Comment: Published in IEEE Robotics and Automation Letters, 201

Country life: agricultural technologies and the emergence of new rural subjectivities

Rural areas have long been spaces of technological experimentation, development and resistance. In the UK, this is especially true in the post-second world war era of productivist food regimes, characterised by moves to intensification. The technologies that have developed have variously aimed to increase yields, automate previously manual tasks, and create new forms of life. This review focuses on the relationships between agricultural technologies and rural lives. While there has been considerable media emphasis on the material modification, and creation, of new rural lives through emerging genetic technologies, the review highlights the role of technologies in co-producing new rural subjectivities. It does this through exploring relationships between agricultural technologies and gender, changing approaches to understanding and intervening in animal lives, and how automation shifts responsibility for productive work on farms. In each of these instances, even ostensibly mundane technologies can significantly affect what it is to be a farmer, a farm advisor or a farm animal. However, the review cautions against technological determinism, drawing on recent work from Science and Technology Studies to show that technologies do not simply reconfigure lives but are themselves transformed by the actors and activities with which they are connected. The review ends by suggesting avenues for future research

Technology and restructuring the social field of dairy farming : hybrid capitals, ‘stockmanship’ and automatic milking systems

This paper draws on research exploring robotic and information technologies in livestock agriculture. Using Automatic Milking Systems (AMS) as an example we use the work of Bourdieu to illustrate how technology can be seen as restructuring the practices of dairy farming, the nature of what it is to be a dairy farmer, and the wider field of dairy farming. Approaching technology in this way and by drawing particularly upon the ‘thinking tools’ (Grenfell, 2008) of Pierre Bourdieu, namely field, capital and habitus, the paper critically examines the relevance of Bourdieu’s thought to the study of technology. In the heterogeneous agricultural context of dairy farming, we expand on Bourdieu’s types of capital to define what we have called ‘hybrid’ capital involving human-cow-technology collectives. The concept of hybrid capital expresses how the use of a new technology can shift power relations within the dairy field, affecting human-animal relations and changing the habitus of the stock person. Hybrid capital is produced through a co-investment of stock keepers, cows and technologies, and can become economically and culturally valuable within a rapidly restructuring dairying field when invested in making dairy farming more efficient and changing farmers’ social status and work-life balance. The paper shows how AMS and this emergent hybrid capital is associated with new but contested definitions of what counts as ‘good’ dairy farming practice, and with the emergence of new modes of dairy farmer habitus, within a wider dairy farming field whose contours are being redrawn through the implementation of new robotic and information technologies