Towards Safe and Efficient Through-the-Canopy Autonomous Fruit Counting with UAVs Article Swipe
Teaya Yang
,
Roman Ibrahimov
,
Mark W. Mueller
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2409.18293
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2409.18293
We present an autonomous aerial system for safe and efficient through-the-canopy fruit counting. Aerial robot applications in large-scale orchards face significant challenges due to the complexity of fine-tuning flight paths based on orchard layouts, canopy density, and plant variability. Through-the-canopy navigation is crucial for minimizing occlusion by leaves and branches but is more challenging due to the complex and dense environment compared to traditional over-the-canopy flights. Our system addresses these challenges by integrating: i) a high-fidelity simulation framework for optimizing flight trajectories, ii) a low-cost autonomy stack for canopy-level navigation and data collection, and iii) a robust workflow for fruit detection and counting using RGB images. We validate our approach through fruit counting with canopy-level aerial images and by demonstrating the autonomous navigation capabilities of our experimental vehicle.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2409.18293
- https://arxiv.org/pdf/2409.18293
- OA Status
- green
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4403809172
All OpenAlex metadata
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- OpenAlex ID
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https://openalex.org/W4403809172Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2409.18293Digital Object Identifier
- Title
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Towards Safe and Efficient Through-the-Canopy Autonomous Fruit Counting with UAVsWork title
- Type
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preprintOpenAlex work type
- Language
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enPrimary language
- Publication year
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2024Year of publication
- Publication date
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2024-09-26Full publication date if available
- Authors
-
Teaya Yang, Roman Ibrahimov, Mark W. MuellerList of authors in order
- Landing page
-
https://arxiv.org/abs/2409.18293Publisher landing page
- PDF URL
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https://arxiv.org/pdf/2409.18293Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
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https://arxiv.org/pdf/2409.18293Direct OA link when available
- Concepts
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Canopy, Environmental science, Computer science, Remote sensing, Geography, ArchaeologyTop concepts (fields/topics) attached by OpenAlex
- Cited by
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0Total citation count in OpenAlex
- Related works (count)
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10Other works algorithmically related by OpenAlex
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