TY  - SER
AU  - Jednipat Moonrinta
AU  - Dailey,Mathew N.
AU  - Mongkol Ekpanyapong,
AU  - Janecek,Paul
ED  - Royal Thai Government, 
TI  - 3D modeling for agricultural field inspection robot
T2  - Thesis
PY  - 2010///
CY  - Pathum Thani, Thailand
PB  - Asian Institute of Technology
KW  - Three-dimensional imaging
KW  - Robot vision
KW  - Camcorders
N1  - A thesis submitted in partial fulfillment of the requirements for the degree of Master of Science in Computer Science, School of Engineering and Technology; Thesis (M.Eng.) - Asian Institute of Technology, 2010
N2  - Through automated agricultural inspection, farmers can potentially achieve better produc-tivity and accurately predict yields and crop quality. The cheapest device for collecting richinformation about a crop is the video camera. This thesis focuses on the design, implemen-tation, and evaluation of algorithms for extracting information about a pineapple crop froma monocular webcam fixed to a mobile inspection platform.  The process begins with fruitdetection and tracking in video sequence.  I propose a 3D modeling algorithm that workswith the tracking history to generate a 3D point cloud for each fruit using structure-from-motion techniques in computer vision.  The 3D modeling algorithm consists of two mainprocedures: 3D point cloud estimation and 3D fruit shape reconstruction. Once the 3D pointcloud for a fruit is obtained, the fruit shape reconstruction method estimates the shape andsize of the fruit using a robust ellipsoid estimation technique. A series of experiments showsthat the method produces a reasonably accurate 3D field map despite only partial and oc-cluded views of the fruit.  The prototype is thus a promising step towards the realization ofautomated mobile in-field agricultural inspection systems
UR  - http://203.159.5.9/ait-thesis/detail.php?q=B02105
ER  -