Registering Reconstructions of the Two Sides of Fruit Tree Rows

Pravakar Roy, Wenbo Dong, Volkan Isler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

Abstract

We consider the problem of building accurate three dimensional (3D)reconstructions of orchard rows. This problem arises in many applications including yield mapping and measuring traits (e.g. trunk diameters)for phenotyping. While 3D reconstructions of side views can be obtained using standard methods, merging the two side-views is difficult due to the lack of overlap between the two partial reconstructions. We present a novel method that utilizes global features to constrain the solution. Specifically, we use information from the silhouettes and the ground plane for alignment. The method is evaluated using multiple simulated and real datasets. For additional information and demonstration of experimental results please see https://www.youtube.com/watch?v=6mGMF2gFv4M.

Original languageEnglish (US)
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7697-7702
Number of pages6
ISBN (Electronic)9781538680940
DOIs
StatePublished - Dec 27 2018
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: Oct 1 2018Oct 5 2018

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
CountrySpain
CityMadrid
Period10/1/1810/5/18

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