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Active optical sensors for tree stem detection and classification in nurseries.

Miguel Garrido1, Manuel Perez-Ruiz2, Constantino Valero3

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Active optical sensors like LIDAR and light curtains can detect and classify trees in nurseries. These technologies offer high detection and classification success rates, aiding in nursery automation and crop protection.

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Area of Science:

  • Agricultural Engineering
  • Robotics
  • Remote Sensing Technology

Background:

  • Automated agricultural tasks require precise crop detection and localization.
  • Mobile sensing platforms offer potential for nursery management.
  • Distinguishing between live and dead trees is crucial for efficient resource allocation.

Purpose of the Study:

  • To evaluate and compare the performance of LIDAR and light curtain sensors for tree detection, localization, and classification in a nursery setting.
  • To assess the reliability, advantages, and disadvantages of each sensor for automated nursery tasks.
  • To provide data for system designers to select optimal sensors for tree management.

Main Methods:

  • Field trials were conducted in a juvenile almond tree nursery using a mobile platform equipped with LIDAR and light curtain sensors.
  • Vehicle odometry was measured using an optical encoder wheel for precise linear displacement reference.
  • Sensor data was processed to evaluate detection, localization, and classification accuracy.

Main Results:

  • The light curtain sensor achieved a 99.48% tree detection rate, while LIDAR achieved 95.7%.
  • Classification of tree state (alive/dead) success rates were 94.16% for the light curtain and 93.75% for LIDAR.
  • Both sensors demonstrated high reliability and accuracy in nursery environments.

Conclusions:

  • LIDAR and light curtain sensors are effective tools for detecting, localizing, and classifying trees in nurseries.
  • These technologies can support the automation of labor-intensive tasks, such as weeding, while minimizing crop damage.
  • Sensor selection should consider specific nursery requirements for optimal performance.