Kinect v2 sensor-based mobile terrestrial laser scanner for agricultural outdoor applications

Mobile terrestrial laser scanners (MTLS), based on light detection and ranging (LiDAR) sensors, are used worldwide in agricultural applications. MTLS are applied to characterize the geometry and the structure of plants and crops for technical and scientific purposes. Although MTLS exhibit outstandin...

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Autores: Rosell Polo, Joan Ramon, Gregorio López, Eduard, Gené Mola, Jordi, Llorens Calveras, Jordi, Torrent Martí, Xavier, Arnó Satorra, Jaume, Escolà i Agustí, Alexandre
Tipo de recurso: artículo
Estado:Versión aceptada para publicación
Fecha de publicación:2017
País:España
Institución:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
Repositorio:Recercat. Dipósit de la Recerca de Catalunya
OAI Identifier:oai:recercat.cat:10459.1/59504
Acceso en línea:https://doi.org/10.1109/TMECH.2017.2663436
http://hdl.handle.net/10459.1/59504
Access Level:acceso abierto
Palabra clave:Depth cameras
Kinect
lidar
Precision agriculture
RGB-D cameras
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spelling Kinect v2 sensor-based mobile terrestrial laser scanner for agricultural outdoor applicationsRosell Polo, Joan RamonGregorio López, EduardGené Mola, JordiLlorens Calveras, JordiTorrent Martí, XavierArnó Satorra, JaumeEscolà i Agustí, AlexandreDepth camerasKinectlidarPrecision agricultureRGB-D camerasMobile terrestrial laser scanners (MTLS), based on light detection and ranging (LiDAR) sensors, are used worldwide in agricultural applications. MTLS are applied to characterize the geometry and the structure of plants and crops for technical and scientific purposes. Although MTLS exhibit outstanding performance, their high cost is still a drawback for most agricultural applications. This paper presents a low-cost alternative to MTLS based on the combination of a Kinect v2 depth sensor and a Real Time Kinematic (RTK) global navigation satellite system (GNSS) with extended color information capability. The theoretical foundations of this system are exposed along with some experimental results illustrating their performance and limitations. This work is focused on open-field agricultural applications, although most conclusions can also be extrapolated to similar outdoor uses. The developed Kinect-based MTLS (K2-MTLS) system allows to select different acquisition frequencies and fields of view (FOV), from one to 512 vertical slices. The authors conclude that the better performance is obtained when a FOV of a single slice is used, but at the price of a very low measuring speed. With that particular configuration, plants, crops, and objects are reproduced accurately. Future efforts will be directed to increase the scanning efficiency by improving both the hardware and software components and to make it feasible using both partial and full FOV.Institute of Electrical and Electronics Engineers (IEEE)2017info:eu-repo/semantics/articleinfo:eu-repo/semantics/acceptedVersionapplication/pdfhttps://doi.org/10.1109/TMECH.2017.2663436http://hdl.handle.net/10459.1/59504reponame:Recercat. Dipósit de la Recerca de Catalunyainstname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)Inglésinfo:eu-repo/grantAgreement/MINECO//AGL2013-48297-C2-2-RVersió postprint del document publicat a : https://doi.org/10.1109/TMECH.2017.2663436IEEE-Asme Transactions on Mechatronics, 2017, vol. 22, núm. 6, p. 2420 - 2427(c) Institute of Electrical and Electronics Engineers (IEEE), 2017info:eu-repo/semantics/openAccessoai:recercat.cat:10459.1/595042026-05-29T05:05:01Z
dc.title.none.fl_str_mv Kinect v2 sensor-based mobile terrestrial laser scanner for agricultural outdoor applications
title Kinect v2 sensor-based mobile terrestrial laser scanner for agricultural outdoor applications
spellingShingle Kinect v2 sensor-based mobile terrestrial laser scanner for agricultural outdoor applications
Rosell Polo, Joan Ramon
Depth cameras
Kinect
lidar
Precision agriculture
RGB-D cameras
title_short Kinect v2 sensor-based mobile terrestrial laser scanner for agricultural outdoor applications
title_full Kinect v2 sensor-based mobile terrestrial laser scanner for agricultural outdoor applications
title_fullStr Kinect v2 sensor-based mobile terrestrial laser scanner for agricultural outdoor applications
title_full_unstemmed Kinect v2 sensor-based mobile terrestrial laser scanner for agricultural outdoor applications
title_sort Kinect v2 sensor-based mobile terrestrial laser scanner for agricultural outdoor applications
dc.creator.none.fl_str_mv Rosell Polo, Joan Ramon
Gregorio López, Eduard
Gené Mola, Jordi
Llorens Calveras, Jordi
Torrent Martí, Xavier
Arnó Satorra, Jaume
Escolà i Agustí, Alexandre
author Rosell Polo, Joan Ramon
author_facet Rosell Polo, Joan Ramon
Gregorio López, Eduard
Gené Mola, Jordi
Llorens Calveras, Jordi
Torrent Martí, Xavier
Arnó Satorra, Jaume
Escolà i Agustí, Alexandre
author_role author
author2 Gregorio López, Eduard
Gené Mola, Jordi
Llorens Calveras, Jordi
Torrent Martí, Xavier
Arnó Satorra, Jaume
Escolà i Agustí, Alexandre
author2_role author
author
author
author
author
author
dc.subject.none.fl_str_mv Depth cameras
Kinect
lidar
Precision agriculture
RGB-D cameras
topic Depth cameras
Kinect
lidar
Precision agriculture
RGB-D cameras
description Mobile terrestrial laser scanners (MTLS), based on light detection and ranging (LiDAR) sensors, are used worldwide in agricultural applications. MTLS are applied to characterize the geometry and the structure of plants and crops for technical and scientific purposes. Although MTLS exhibit outstanding performance, their high cost is still a drawback for most agricultural applications. This paper presents a low-cost alternative to MTLS based on the combination of a Kinect v2 depth sensor and a Real Time Kinematic (RTK) global navigation satellite system (GNSS) with extended color information capability. The theoretical foundations of this system are exposed along with some experimental results illustrating their performance and limitations. This work is focused on open-field agricultural applications, although most conclusions can also be extrapolated to similar outdoor uses. The developed Kinect-based MTLS (K2-MTLS) system allows to select different acquisition frequencies and fields of view (FOV), from one to 512 vertical slices. The authors conclude that the better performance is obtained when a FOV of a single slice is used, but at the price of a very low measuring speed. With that particular configuration, plants, crops, and objects are reproduced accurately. Future efforts will be directed to increase the scanning efficiency by improving both the hardware and software components and to make it feasible using both partial and full FOV.
publishDate 2017
dc.date.none.fl_str_mv 2017
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/acceptedVersion
format article
status_str acceptedVersion
dc.identifier.none.fl_str_mv https://doi.org/10.1109/TMECH.2017.2663436
http://hdl.handle.net/10459.1/59504
url https://doi.org/10.1109/TMECH.2017.2663436
http://hdl.handle.net/10459.1/59504
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv info:eu-repo/grantAgreement/MINECO//AGL2013-48297-C2-2-R
Versió postprint del document publicat a : https://doi.org/10.1109/TMECH.2017.2663436
IEEE-Asme Transactions on Mechatronics, 2017, vol. 22, núm. 6, p. 2420 - 2427
dc.rights.none.fl_str_mv (c) Institute of Electrical and Electronics Engineers (IEEE), 2017
info:eu-repo/semantics/openAccess
rights_invalid_str_mv (c) Institute of Electrical and Electronics Engineers (IEEE), 2017
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
dc.source.none.fl_str_mv reponame:Recercat. Dipósit de la Recerca de Catalunya
instname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
instname_str Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
reponame_str Recercat. Dipósit de la Recerca de Catalunya
collection Recercat. Dipósit de la Recerca de Catalunya
repository.name.fl_str_mv
repository.mail.fl_str_mv
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