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René Gislum

Ground Vehicle Mapping of Fields using LiDAR to Enable Prediction of Crop Biomass

Research output: Contribution to book/anthology/report/proceedingArticle in proceedingsResearch

Mapping field environments into point clouds using a 3D LIDAR has the ability to become a new approach for online estimation of crop biomass in the field. The estimation of crop biomass in agriculture is expected to be closely correlated to canopy heights. The work presented in this paper contributes to the mapping and textual analysis of agricultural fields. Crop and environmental state information can be used to tailor treatments to the specific site. This paper presents the current results with our ground vehicle LiDAR mapping systems for broad acre crop fields. The proposed vehicle system and method facilitates LiDAR recordings in an experimental winter wheat field. LiDAR data are combined with data from Global Navigation Satellite System (GNSS) and Inertial Measurement Unit (IMU) sensors to conduct environment mapping for point clouds. The sensory data from the vehicle are recorded, mapped, and analysed using the functionalities of the Robot Operating System (ROS) and the Point Cloud Library (PCL). In this experiment winter wheat (Triticum aestivum L.) in field plots, was mapped using 3D point clouds with a point density on the centimeter level. The purpose of the experiment was to create 3D LiDAR point-clouds of the field plots enabling canopy volume and textural analysis to discriminate different crop treatments. Estimated crop volumes ranging from 3500-6200 (m3) per hectare are correlated to the manually collected samples of cut biomass extracted from the experimental field.
Original languageEnglish
Title of host publicationProceedings of the 14th International Conference on Precision Agriculture
Number of pages9
Place of publicationMontreal
PublisherInternational Society of Precision Agriculture
Publication year30 Jun 2018
Article number5145
Publication statusPublished - 30 Jun 2018
EventInternational Conference on Precision Agriculture - Montréal, Canada
Duration: 24 Jun 201827 Jun 2018
Conference number: 14


ConferenceInternational Conference on Precision Agriculture

    Research areas

  • mobile robotics, canopy estimation, crop monitoring, point cloud, winter wheat mapping

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