Assessing the Performance of RGB-D Sensors for 3D Fruit Crop Canopy Characterization under Different Operating and Lighting Conditions.

The use of 3D sensors combined with appropriate data processing and analysis has provided tools to optimise agricultural management through the application of precision agriculture. The recent development of low-cost RGB-Depth cameras has presented an opportunity to introduce 3D sensors into the agricultural community. However, due to the sensitivity of these sensors to highly illuminated environments, it is necessary to know under which conditions RGB-D sensors are capable of operating. This work presents a methodology to evaluate the performance of RGB-D sensors under different lighting and distance conditions, considering both geometrical and spectral (colour and NIR) features. The methodology was applied to evaluate the performance of the Microsoft Kinect v2 sensor in an apple orchard. The results show that sensor resolution and precision decreased significantly under middle to high ambient illuminance (>2000 lx). However, this effect was minimised when measurements were conducted closer to the target. In contrast, illuminance levels below 50 lx affected the quality of colour data and may require the use of artificial lighting. The methodology was useful for characterizing sensor performance throughout the full range of ambient conditions in commercial orchards. Although Kinect v2 was originally developed for indoor conditions, it performed well under a range of outdoor conditions.

Determination of spray drift and buffer zones in 3D crops using the ISO standard and new LiDAR methodologies.

Spray drift generated in the application of plant protection products in tree crops (3D crops) is a major source of environmental contamination, with repercussions for human health and the environment. Spray drift contamination acquires greater relevance in the EU Southern Zone due to the crops structure and the weather conditions. Hence, there is a need to evaluate spray drift when treating the most representative 3D crops in this area. For this purpose, 4 spray drift tests, measuring airborne and sedimenting spray drift in accordance with ISO 22866:2005, were carried out for 4 different crops (peach, citrus, apple and grape) in orchards of the EU Southern Zone, using an air-blast sprayer equipped with standard (STN) and spray drift reduction (DRN) nozzle types. A further 3 tests were carried out to test a new methodology for the evaluation of spray drift in real field conditions using a LiDAR system, in which the spray drift generated by different sprayer and nozzle types was contrasted. The airborne spray drift potential reduction (DPRV) values, obtained following the ISO 22866:2005, were higher than those for sedimenting spray drift potential reduction (DPRH) (63.82%-94.42% vs. 39.75%-69.28%, respectively). For each crop and nozzle type combination, a sedimenting spray drift model was also developed and used to determine buffer zone width. The highest buffer width reduction (STN vs DRN) was obtained in peach (˃75%), while in grape, citrus and apple only 50% was reached. These results can be used as the starting point to determine buffer zone width in the countries of the EU Southern Zone depending on different environmental threshold values. Tests carried out using LiDAR system demonstrated high capacity and efficiency of this system and this newly defined methodology, allowing sprayer and nozzle types in real field conditions to be differentiated and classified.

Spatial variability in orchards after land transformation: Consequences for precision agriculture practices.

The change from traditional to a more mechanized and technical agriculture has involved, in many cases, land transformations. This has supposed alteration of landforms and soils, with significant consequences. The effects of induced soil variability and the subsequent implications in site-specific crop management have not been sufficiently studied. The present work investigated the application of a resistivity soil sensor (Veris 3100), to map the apparent electrical conductivity (ECa), and detailed multispectral airborne images to analyse soil and crop spatial variability to assist in site-specific orchard management. The study was carried out in a peach orchard (Prunus persica (L.) Stokes), in an area transformed in the 1980 decade to change from rainfed arable crops to irrigated orchards. A total of 40 soil samples at two depths (0-30cm and 30-60cm) were analysed and compared to ECa and the normalised difference vegetation index (NDVI). Two types of statistical analysis were performed between ECa or NDVI classes with soil properties: a linear correlation analysis and multivariate analysis of variance (MANOVA). The results showed that the land transformation altered the spatial distribution and continuity of soil properties. Although a relationship between ECa and peach tree vigour could be expected, it was not found, even in the case of trees planted in soils with salts content above the tolerance threshold. Two types of management zones were proposed: a) zones delineated according to ECa classes to leach salts in the high ECa zones, and b) zones delineated according to NDVI classes to regulate tree vigour and yield. These strategies respond to the alteration of the original soil functions due to the land transformation carried out in previous years.

Mapping Vineyard Leaf Area Using Mobile Terrestrial Laser Scanners: Should Rows be Scanned On-the-Go or Discontinuously Sampled?

The leaf area index (LAI) is defined as the one-side leaf area per unit ground area, and is probably the most widely used index to characterize grapevine vigor. However, LAI varies spatially within vineyard plots. Mapping and quantifying this variability is very important for improving management decisions and agricultural practices. In this study, a mobile terrestrial laser scanner (MTLS) was used to map the LAI of a vineyard, and then to examine how different scanning methods (on-the-go or discontinuous systematic sampling) may affect the reliability of the resulting raster maps. The use of the MTLS allows calculating the enveloping vegetative area of the canopy, which is the sum of the leaf wall areas for both sides of the row (excluding gaps) and the projected upper area. Obtaining the enveloping areas requires scanning from both sides one meter length section along the row at each systematic sampling point. By converting the enveloping areas into LAI values, a raster map of the latter can be obtained by spatial interpolation (kriging). However, the user can opt for scanning on-the-go in a continuous way and compute 1-m LAI values along the rows, or instead, perform the scanning at discontinuous systematic sampling within the plot. An analysis of correlation between maps indicated that MTLS can be used discontinuously in specific sampling sections separated by up to 15 m along the rows. This capability significantly reduces the amount of data to be acquired at field level, the data storage capacity and the processing power of computers.

Georeferenced scanning system to estimate the leaf wall area in tree crops.

This paper presents the use of a terrestrial light detection and ranging (LiDAR) system to scan the vegetation of tree crops to estimate the so-called pixelated leaf wall area (PLWA). Scanning rows laterally and considering only the half-canopy vegetation to the line of the trunks, PLWA refers to the vertical projected area without gaps detected by LiDAR. As defined, PLWA may be different depending on the side from which the LiDAR is applied. The system is completed by a real-time kinematic global positioning system (RTK-GPS) sensor and an inertial measurement unit (IMU) sensor for positioning. At the end, a total leaf wall area (LWA) is computed and assigned to the X, Y position of each vertical scan. The final value of the area depends on the distance between two consecutive scans (or horizontal resolution), as well as the number of intercepted points within each scan, since PLWA is only computed when the laser beam detects vegetation. To verify system performance, tests were conducted related to the georeferencing task and synchronization problems between GPS time and central processing unit (CPU) time. Despite this, the overall accuracy of the system is generally acceptable. The Leaf Area Index (LAI) can then be estimated using PLWA as an explanatory variable in appropriate linear regression models.

Advanced technologies for the improvement of spray application techniques in spanish viticulture: an overview.

Spraying techniques have been undergoing continuous evolution in recent decades. This paper presents part of the research work carried out in Spain in the field of sensors for characterizing vineyard canopies and monitoring spray drift in order to improve vineyard spraying and make it more sustainable. Some methods and geostatistical procedures for mapping vineyard parameters are proposed, and the development of a variable rate sprayer is described. All these technologies are interesting in terms of adjusting the amount of pesticides applied to the target canopy.