2019, Tsoulias, Nikos, Paraforos, Dimitrios S., Fountas, Spyros, Zude-Sasse, Manuela

Data of canopy morphology are crucial for cultivation tasks within orchards. In this study, a 2D light detection and range (LiDAR) laser scanner system was mounted on a tractor, tested on a box with known dimensions (1.81 m × 0.6 m × 0.6 m), and applied in an apple orchard to obtain the 3D structural parameters of the trees (n = 224). The analysis of a metal box which considered the height of four sides resulted in a mean absolute error (MAE) of 8.18 mm with a bias (MBE) of 2.75 mm, representing a root mean square error (RMSE) of 1.63% due to gaps in the point cloud and increased incident angle with enhanced distance between laser aperture and the object. A methodology based on a bivariate point density histogram is proposed to estimate the stem position of each tree. The cylindrical boundary was projected around the estimated stem positions to segment each individual tree. Subsequently, height, stem diameter, and volume of the segmented tree point clouds were estimated and compared with manual measurements. The estimated stem position of each tree was defined using a real time kinematic global navigation satellite system, (RTK-GNSS) resulting in an MAE and MBE of 33.7 mm and 36.5 mm, respectively. The coefficient of determination (R2) considering manual measurements and estimated data from the segmented point clouds appeared high with, respectively, R2 and RMSE of 0.87 and 5.71% for height, 0.88 and 2.23% for stem diameter, as well as 0.77 and 4.64% for canopy volume. Since a certain error for the height and volume measured manually can be assumed, the LiDAR approach provides an alternative to manual readings with the advantage of getting tree individual data of the entire orchard.

2019, Zude-Sasse, Manuela, Hashim, Norhashila, Hass, Roland, Polley, Nabarun, Regen, Christian

Decoupling of optical properties appears challenging, but vital to get better insight of the relationship between light and fruit attributes. In this study, nine solid phantoms capturing the ranges of absorption (μa) and reduced scattering (μs’) coefficients in fruit were analysed non-destructively using laser-induced backscattering imaging (LLBI) at 1060 nm. Data analysis of LLBI was carried out on the diffuse reflectance, attenuation profile obtained by means of Farrell's diffusion theory either calculating μa [cm−1] and μs’ [cm−1] in one fitting step or fitting only one optical variable and providing the other one from a destructive analysis. The nondestructive approach was approved when calculating one unknown coefficient non-destructively, while no ability of the method was found to analysis both, μa and μs’, non-destructively. Setting μs’ according to destructive photon density wave (PDW) spectroscopy and fitting μa resulted in root mean square error (rmse) of 18.7% in comparison to fitting μs’ resulting in rmse of 2.6%, pointing to decreased measuring uncertainty, when the highly variable μa was known. The approach was tested on European pear, utilizing destructive PDW spectroscopy for setting one variable, while LLBI was applied for calculating the remaining coefficient. Results indicated that the optical properties of pear obtained from PDW spectroscopy as well as LLBI changed concurrently in correspondence to water content mainly. A destructive batch-wise analysis of μs’ and online analysis of μa may be considered in future developments for improved fruit sorting results, when considering fruit with high variability of μs’. © 2019 The Authors