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Camera-based 3D reconstruction of physical objects is one of the most popular computer vision trends in recent years. Many systems have been built to model different real-world subjects, but there is lack of a completely robust system for plants. This paper presents a full 3D reconstruction system that incorporates both hardware structures (including the proposed structured light system to enhance textures on object surfaces) and software algorithms (including the proposed 3D point cloud registration and plant feature measurement). This paper demonstrates the ability to produce 3D models of whole plants created from multiple pairs of stereo images taken at different viewing angles, without the need to destructively cut away any parts of a plant. The ability to accurately predict phenotyping features, such as the number of leaves, plant height, leaf size and internode distances, is also demonstrated. Experimental results show that, for plants having a range of leaf sizes and a distance between leaves appropriate for the hardware design, the algorithms successfully predict phenotyping features in the target crops, with a recall of 0.97 and a precision of 0.89 for leaf detection and less than a 13-mm error for plant size, leaf size and internode distance.

Near-infrared (NIR) spectroscopy has been used to non-destructively and rapidly evaluate the quality of fresh agricultural produce. In this study, two commercially available portable spectrometers (F-750: Felix Instruments, WA, USA; and SCiO: Consumer Physics, Tel Aviv, Israel) were evaluated in the wavelength range between 740 and 1070 nm to non-invasively predict quality attributes, including the dry matter (DM), and total soluble solids (TSS) content of three fresh table grape cultivars (‘Autumn Royal’, ‘Timpson’, and ‘Sweet Scarlet’) and one peach cultivar (‘Cassie’). Prediction models were developed using partial least-square regression (PLSR) to correlate the NIR absorbance spectra with the invasive quality measurements. In regard to grapes, the best DM prediction models yielded an R2 of 0.83 and 0.81, a ratio of standard error of performance to standard deviation (RPD) of 2.35 and 2.29, and a root mean square error of prediction (RMSEP) of 1.40 and 1.44; and the best TSS prediction models generated an R2 of 0.97 and 0.95, an RPD of 5.95 and 4.48, and an RMSEP of 0.53 and 0.70 for the F-750 and SCiO spectrometers, respectively. Overall, PLSR prediction models using both spectrometers were promising to predict table grape quality attributes. Regarding peach, the PLSR prediction models did not perform as well as in grapes, as DM prediction models resulted in an R2 of 0.81 and 0.67, an RPD of 2.24 and 1.74, and an RMSEP of 1.28 and 1.66; and TSS resulted in an R2 of 0.62 and 0.55, an RPD of 1.55 and 1.48, and an RMSEP of 1.19 and 1.25 for the F-750 and SCiO spectrometers, respectively. Overall, the F-750 spectrometer prediction models performed better than those generated by using the SCiO spectrometer data.

The feasibility of automated individual crop plant care in vegetable crop fields has increased, resulting in improved efficiency and economic benefits. A systems-based approach is a key feature in the engineering design of mechanization that incorporates precision sensing techniques. The objective of this study was to design new sensing capabilities to measure crop plant spacing under different test conditions (California, USA and Andalucía, Spain). For this study, three different types of optical sensors were used: an optical light-beam sensor (880 nm), a Light Detection and Ranging (LiDAR) sensor (905 nm), and an RGB camera. Field trials were conducted on newly transplanted tomato plants, using an encoder as a local reference system. Test results achieved a 98% accuracy in detection using light-beam sensors while a 96% accuracy on plant detections was achieved in the best of replications using LiDAR. These results can contribute to the decision-making regarding the use of these sensors by machinery manufacturers. This could lead to an advance in the physical or chemical weed control on row crops, allowing significant reductions or even elimination of hand-weeding tasks.

The discipline of weed science is at a critical juncture. Decades of efficient chemical weed control have led to a rise in the number of herbicide-resistant weed populations, with few new herbicides with unique modes of action to counter this trend and often no economical alternatives to herbicides in large-acreage crops. At the same time, the world population is swelling, necessitating increased food production to feed an anticipated 9 billion people by the year 2050. Here, we consider these challenges along with emerging trends in technology and innovation that offer hope of providing sustainable weed management into the future. The emergence of natural product leads in discovery of new herbicides and biopesticides suggests that new modes of action can be discovered, while genetic engineering provides additional options for manipulating herbicide selectivity and creating entirely novel approaches to weed management. Advances in understanding plant pathogen interactions will contribute to developing new biological control agents, and insights into plant–plant interactions suggest that crops can be improved by manipulating their response to competition. Revolutions in computing power and automation have led to a nascent industry built on using machine vision and global positioning system information to distinguish weeds from crops and deliver precision weed control. These technologies open multiple possibilities for efficient weed management, whether through chemical or mechanical mechanisms. Information is also needed by growers to make good decisions, and will be delivered with unprecedented efficiency and specificity, potentially revolutionizing aspects of extension work. We consider that meeting the weed management needs of agriculture by 2050 and beyond is a challenge that requires commitment by funding agencies, researchers, and students to translate new technologies into durable weed management solutions. Integrating old and new weed management technologies into more diverse weed management systems based on a better understanding of weed biology and ecology can provide integrated weed management and resistance management strategies that will be more sustainable than the technologies that are now failing.

Active optical sensing (LIDAR and light curtain transmission) devices mounted on a mobile platform can correctly detect, localize, and classify trees. To conduct an evaluation and comparison of the different sensors, an optical encoder wheel was used for vehicle odometry and provided a measurement of the linear displacement of the prototype vehicle along a row of tree seedlings as a reference for each recorded sensor measurement. The field trials were conducted in a juvenile tree nursery with one-year-old grafted almond trees at Sierra Gold Nurseries, Yuba City, CA, United States. Through these tests and subsequent data processing, each sensor was individually evaluated to characterize their reliability, as well as their advantages and disadvantages for the proposed task. Test results indicated that 95.7% and 99.48% of the trees were successfully detected with the LIDAR and light curtain sensors, respectively. LIDAR correctly classified, between alive or dead tree states at a 93.75% success rate compared to 94.16% for the light curtain sensor. These results can help system designers select the most reliable sensor for the accurate detection and localization of each tree in a nursery, which might allow labor-intensive tasks, such as weeding, to be automated without damaging crops.

Specialty crops, like flowers, herbs, and vegetables, generally do not have an adequate spectrum of herbicide chemistries to control weeds and have been dependent on hand weeding to achieve commercially acceptable weed control. However, labor shortages have led to higher costs for hand weeding. There is a need to develop labor-saving technologies for weed control in specialty crops if production costs are to be contained. Machine vision technology, together with data processors, have been developed to enable commercial machines to recognize crop row patterns and control automated devices that perform tasks such as removal of intrarow weeds, as well as to thin crops to desired stands. The commercial machine vision systems depend upon a size difference between the crops and weeds and/or the regular crop row pattern to enable the system to recognize crop plants and control surrounding weeds. However, where weeds are large or the weed population is very dense, then current machine vision systems cannot effectively differentiate weeds from crops. Commercially available automated weeders and thinners today depend upon cultivators or directed sprayers to control weeds. Weed control actuators on future models may use abrasion with sand blown in an air stream or heating with flaming devices to kill weeds. Future weed control strategies will likely require adaptation of the crops to automated weed removal equipment. One example would be changes in crop row patterns and spacing to facilitate cultivation in two directions. Chemical company consolidation continues to reduce the number of companies searching for new herbicides; increasing costs to develop new herbicides and price competition from existing products suggest that the downward trend in new herbicide development will continue. In contrast, automated weed removal equipment continues to improve and become more effective.

This paper demonstrates an automated computer vision system for outdoor tree crop enumeration in a seedling nursery. The complete system incorporates both hardware components (including an embedded microcontroller, an odometry encoder, and an uncalibrated digital color camera) and software algorithms (including microcontroller algorithms and the proposed algorithm for tree crop enumeration) required to obtain robust performance in a natural outdoor environment. The enumeration system uses a three-step image analysis process based upon: (1) an orthographic plant projection method integrating a perspective transform with automatic parameter estimation; (2) a plant counting method based on projection histograms; and (3) a double-counting avoidance method based on a homography transform. Experimental results demonstrate the ability to count large numbers of plants automatically with no human effort. Results show that, for tree seedlings having a height up to 40 cm and a within-row tree spacing of approximately 10 cm, the algorithms successfully estimated the number of plants with an average accuracy of 95.2% for trees within a single image and 98% for counting of the whole plant population in a large sequence of images.

Increasing weed control costs and limited herbicide options threaten vegetable crop profitability. Traditional interrow mechanical cultivation is very effective at removing weeds between crop rows. However, weed control within the crop rows is necessary to establish the crop and prevent yield loss. Currently, many vegetable crops require hand weeding to remove weeds within the row that remain after traditional cultivation and herbicide use. Intelligent cultivators have come into commercial use to remove intrarow weeds and reduce cost of hand weeding. Intelligent cultivators currently on the market such as the Robovator, use pattern recognition to detect the crop row. These cultivators do not differentiate crops and weeds and do not work well among high weed populations. One approach to differentiate weeds is to place a machine-detectable mark or signal on the crop (i.e., the crop has the mark and the weed does not), thereby facilitating weed/crop differentiation. Lettuce and tomato plants were marked with labels and topical markers, then cultivated with an intelligent cultivator programmed to identify the markers. Results from field trials in marked tomato and lettuce found that the intelligent cultivator removed 90% more weeds from tomato and 66% more weeds from lettuce than standard cultivators without reducing yields. Accurate crop and weed differentiation described here resulted in a 45% to 48% reduction in hand-weeding time per hectare. Nomenclature: lettuce, Lactuca sativa L.; tomato, Solanum lycopersicum L

AbstractNon-chemical control of weeds is essential for organic farming and is a potential solution to address herbicide-resistant weeds, but too few non-chemical control methods exist. Consumers, farmers, and regulators want organic produce, new tools, and fewer xenobiotics. New weed management strategies focused on the integration of different tools, and strategies are needed to minimize dependence on broad-spectrum herbicides. Accordingly, we assessed abrasive grits from eight agricultural sources (almond shell, grape seed, maize cob, olive seed, poultry manure, sand, soybean meal, and walnut shell) as weed-abrading materials when delivered at high air pressures. Grit efficacies were determined in laboratory trials on weeds common to tomato, sugar beet, and olive: Amaranthus retroflexus L., Chenopodium murale L., and Centaurea cyanus L., respectively. Additionally, application rates and costs of residues were estimated. Control of two- to three-leaf stage weed seedlings ranged from 30 to 100%. In 88% of the trials, weed control exceeded 80%. Except for sand, the effectiveness of the grits was not species dependent. Significant differences in the mass flow of grits suggested that effective doses may vary up to 100% among grit materials. The residue yield ratio (percent control per gram of grit) varied among residues, ranging from 2.8 to 7.1% g−1. We demonstrate that the best combination of weed control, grit dose, and residue yield ratio was provided by maize cob and olive seed, with control rates of 93 and 90%, respectively. This pioneering study simultaneously assessed residues from both herbaceous and woody crops as well as animal wastes and indicated that a more efficient and effective use of these resources for weed control is feasible.

Multispectral images of leaf reflectance in the visible and near infrared region from 384 to 810 nm were used to establish the feasibility of developing a site-specific classifier to distinguish lettuce plants from weeds in California direct-seeded lettuce fields. An average crop vs. weed classification accuracy of 90.3% was obtained in a study of over 7,000 individual spectra representing 150 plants. The classifier utilized reflectance values from a small spatial area (3 mm diameter) of the leaf in order to allow the method to be robust to occlusion and to eliminate the need to identify leaf boundaries for shape-based machine vision recognition. Reflectance spectra were collected in the field using equipment suitable for real-time operation as a weed sensor in an autonomous system for automated weed control. Nomenclature: Lettuce, Lactuca sativa L. ‘Capitata’ and ‘Crispa’