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Mapping Wide Row Crops with Video Sequences Acquired from a Tractor Moving at Treatment Speed

Sainz-Costa, Nadir and Ribeiro, Angela and Burgos-Artizzu, Xavier P. and Guijarro, Maria and Pajares, Gonzalo (2011) Mapping Wide Row Crops with Video Sequences Acquired from a Tractor Moving at Treatment Speed. Sensors, 11 (7). pp. 7095-7109. ISSN 1424-8220.

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This paper presents a mapping method for wide row crop fields. The resulting map shows the crop rows and weeds present in the inter-row spacing. Because field videos are acquired with a camera mounted on top of an agricultural vehicle, a method for image sequence stabilization was needed and consequently designed and developed. The proposed stabilization method uses the centers of some crop rows in the image sequence as features to be tracked, which compensates for the lateral movement (sway) of the camera and leaves the pitch unchanged. A region of interest is selected using the tracked features, and an inverse perspective technique transforms the selected region into a bird’s-eye view that is centered on the image and that enables map generation. The algorithm developed has been tested on several video sequences of different fields recorded at different times and under different lighting conditions, with good initial results. Indeed, lateral displacements of up to 66% of the inter-row spacing were suppressed through the stabilization process, and crop rows in the resulting maps appear straight.

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Additional Information:© 2011 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license ( Received: 6 April 2011; in revised form: 4 July 2011. Accepted: 6 July 2011. Published: 11 July 2011. The Spanish Ministry of Science and Innovation and the European Union have provided full and continuing support for this research work through projects PLAN NACIONAL AGL2008-04670-C03-02/AGR and the RHEA project, which is funded by the EU 7th Framework Programme under contract number NMP2-LA-2010-245986.
Funding AgencyGrant Number
Ministerio de Ciencia e Innovación (MICINN)UNSPECIFIED
European UnionAGL2008-04670-C03-02/AGR
European Union 7th Framework Programme NMP2-LA-2010-245986
Subject Keywords:crop mapping; video stabilization; inverse perspective mapping; video processing; precision agriculture
Issue or Number:7
Record Number:CaltechAUTHORS:20110929-065540774
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Official Citation:Nadir Sainz-Costa, Angela Ribeiro, Xavier P. Burgos-Artizzu, María Guijarro and Gonzalo Pajares Article: Mapping Wide Row Crops with Video Sequences Acquired from a Tractor Moving at Treatment Speed Sensors 2011, 11(7), 7095-7109; doi:10.3390/s110707095
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:25481
Deposited By: Ruth Sustaita
Deposited On:30 Sep 2011 14:35
Last Modified:03 Oct 2019 03:06

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