Within the context of precision agriculture, goods insurance, public subsidies, fire damage assessment, etc., accurate knowledge about the plant population in crops represents valuable information. In this regard, the use of Unmanned Aerial Vehicles (UAVs) has proliferated as an alternative to traditional plant counting methods, which are laborious, time demanding and prone to human error. Hence, a methodology for the automated detection, geolocation and counting of crop trees in intensive cultivation orchards from high resolution multispectral images, acquired by UAV-based aerial imaging, is proposed. After image acquisition, the captures are processed by means of photogrammetry to yield a 3D point cloud-based representation of the study plot. To exploit the elevation information contained in it and eventually identify the plants, the cloud is deterministically interpolated, and subsequently transformed into a greyscale image. This image is processed, by using mathematical morphology techniques, in such a way that the absolute height of the trees with respect to their local surroundings is exploited to segment the tree pixel-regions, by global statistical thresholding binarization. This approach makes the segmentation process robust against surfaces with elevation variations of any magnitude, or to possible distracting artefacts with heights lower than expected. Finally, the segmented image is analysed by means of an ad-hoc moment representation-based algorithm to estimate the location of the trees. The methodology was tested in an intensive olive orchard of 17.5 ha, with a population of 3919 trees. Because of the plot’s plant density and tree spacing pattern, typical of intensive plantations, many occurrences of intra-row tree aggregations were observed, increasing the complexity of the scenario under study. Notwithstanding, it was achieved a precision of 99.92%, a sensibility of 99.67% and an F-score of 99.75%, thus correctly identifying and geolocating 3906 plants. The generated 3D point cloud reported root-mean square errors (RMSE) in the X, Y and Z directions of 0.73 m, 0.39 m and 1.20 m, respectively. These results support the viability and robustness of this methodology as a phenotyping solution for the automated plant counting and geolocation in olive orchards.
Evaluating the Distance Impact to the Scanning Topographic Object with the 3D Point Cloud Resolution
