Under-Canopy Drone 3D Surveys for Wild Fruit Hotspot Mapping

被引:3
|
作者
Trybala, Pawel [1 ]
Morelli, Luca [1 ]
Remondino, Fabio [1 ]
Farrand, Levi [2 ]
Couceiro, Micael S. [3 ]
机构
[1] Bruno Kessler Fdn FBK, 3D Opt Metrol 3DOM Unit, I-38123 Trento, Italy
[2] Deep Forestry AB, S-75454 Uppsala, Sweden
[3] Ingeniarius Ltd, P-4445147 Alfena, Portugal
关键词
forestry; 3D mapping; SfM; SLAM; deep learning; mobile app; point cloud segmentation; UAV; SYSTEMS; SCALE; LIDAR;
D O I
10.3390/drones8100577
中图分类号
TP7 [遥感技术];
学科分类号
081102 ; 0816 ; 081602 ; 083002 ; 1404 ;
摘要
Advances in mobile robotics and AI have significantly expanded their application across various domains and challenging conditions. In the past, this has been limited to safe, controlled, and highly structured settings, where simplifying assumptions and conditions allowed for the effective resolution of perception-based tasks. Today, however, robotics and AI are moving into the wild, where human-robot collaboration and robust operation are essential. One of the most demanding scenarios involves deploying autonomous drones in GNSS-denied environments, such as dense forests. Despite the challenges, the potential to exploit natural resources in these settings underscores the importance of developing technologies that can operate in such conditions. In this study, we present a methodology that addresses the unique challenges of natural forest environments by integrating positioning methods, leveraging cameras, LiDARs, GNSS, and vision AI with drone technology for under-canopy wild berry mapping. To ensure practical utility for fruit harvesters, we generate intuitive heat maps of berry locations and provide users with a mobile app that supports interactive map visualization, real-time positioning, and path planning assistance. Our approach, tested in a Scandinavian forest, refines the identification of high-yield wild fruit locations using V-SLAM, demonstrating the feasibility and effectiveness of autonomous drones in these demanding applications.
引用
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页数:22
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