2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017
DOI: 10.1109/iros.2017.8206497
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A robotic vision system to measure tree traits

Abstract: Abstract-The autonomous measurement of tree traits, such as branching structure, branch diameters, branch lengths, and branch angles, is required for tasks such as robotic pruning of trees as well as structural phenotyping. We propose a robotic vision system called the Robotic System for Tree Shape Estimation (RoTSE) to determine tree traits in field settings. The process is composed of the following stages: image acquisition with a mobile robot unit, segmentation, reconstruction, curve skeletonization, conver… Show more

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Cited by 39 publications
(30 citation statements)
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“…A shape from inconsistent silhouette approach was used by Tabb (2013) and Tabb and Medeiros et al (2017) to reconstruct the shape of fruit trees. Color cameras were used to acquire images of apple trees in an outdoor environment.…”
Section: Robotic Pruningmentioning
confidence: 99%
See 1 more Smart Citation
“…A shape from inconsistent silhouette approach was used by Tabb (2013) and Tabb and Medeiros et al (2017) to reconstruct the shape of fruit trees. Color cameras were used to acquire images of apple trees in an outdoor environment.…”
Section: Robotic Pruningmentioning
confidence: 99%
“…Because automatic segmentation of scene between tree and non-tree regions is required, a background unit was used to block the appearance of other rows of trees. While in Tabb (2013) multiple cameras were used in laboratory conditions, in Tabb and Medeiros (2017) a robot was used for data acquisition and is shown in Figure 14.1. Features computed include branch segment diameter, length, angle with respect to parent, and branch segment position.…”
Section: Robotic Pruningmentioning
confidence: 99%
“…Mobile background units, such as the ones used in our work, have been used for various purposes, from apple harvest [11,9,20], to grape pruning [5], and tree shape estimation [22,23,24]. The advantage of using such a background, especially with trees planted in rows, is that the influence of neighboring rows of trees is eliminated.…”
Section: Related Workmentioning
confidence: 99%
“…2 The citation information for this paper is: A. Tabb mobile background unit from tree regions in an orchard setting as part of an automated pipeline to reconstruct and measure the shape of leafless trees for robotic pruning and phenotyping [22,23,24]. Since the images are acquired outdoors, illumination conditions are not stable and may change rapidly and widely.…”
Section: Introductionmentioning
confidence: 99%
“…The problem of building accurate three‐dimensional (3D) reconstructions of orchard rows arises in a number of agricultural automation tasks. The estimation of morphological parameters of fruit trees (such as tree height, canopy volume, and trunk diameter) is important in horticultural science, and has become an important topic in precision agriculture (Rosell & Sanz, ; Tabb & Medeiros, ). Accurate morphology estimation can help horticulturists study to what extent these parameters impact crop yield, health, and development.…”
Section: Introductionmentioning
confidence: 99%