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- ItemEstimating Canopy Parameters Based on the Stem Position in Apple Trees Using a 2D LiDAR(Basel : MDPI AG, 2019) Tsoulias, Nikos; Paraforos, Dimitrios S.; Fountas, Spyros; Zude-Sasse, ManuelaData 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.
- ItemCarbon consumption of developing fruit and the fruit bearing capacity of individual RoHo 3615 and Pinova apple trees(Lublin : IA PAS, 2020) Penzel, Martin; Lakso, Alan Neil; Tsoulias, Nikos; Zude-Sasse, ManuelaThis paper describes an approach to estimate the photosynthetic capacity and derive the optimum fruit number for each individual tree, in order to achieve a defined fruit size, which is named as the fruit bearing capacity of the tree. The estimation of fruit bearing capacity was carried out considering the total leaf area per tree as measured with a 2-D LiDAR laser scanner, LALiDAR, and key carbon-related variables of the trees including leaf gas exchange, fruit growth and respiration, in two commercial apple orchards. The range between minLALiDAR and maxLALiDAR was found to be 2.4 m on Pinova and 4.3 m on RoHo 3615 at fully developed canopy. The daily C requirement of the growing fruit and the associated leaf area demand, necessary to meet the average daily fruit C requirements showed seasonal variation, with maximum values in the middle of the growing period. The estimated fruit bearing capacity ranged from 33-95 fruit tree-1 and 45-121 fruit tree-1 on the trees of Pinova and RoHo 3615, respectively. This finding demonstrates sub-optimal crop load at harvest time in both orchards, above or below the fruit bearing capacity for individual trees. In conclusion, the LiDAR measurements of the leaf area combined with a carbon balance model allows for the estimation of fruit bearing capacity for individual trees for precise crop load management. © 2020 Polish Academy of Sciences. All rights reserved.
- ItemApple Shape Detection Based on Geometric and Radiometric Features Using a LiDAR Laser Scanner(Basel : MDPI, 2020) Tsoulias, Nikos; Paraforos, Dimitrios S.; Xanthopoulos, George; Zude-Sasse, ManuelaYield monitoring systems in fruit production mostly rely on color features, making the discrimination of fruits challenging due to varying light conditions. The implementation of geometric and radiometric features in three-dimensional space (3D) analysis can alleviate such difficulties improving the fruit detection. In this study, a light detection and range (LiDAR) system was used to scan apple trees before (TL) and after defoliation (TD) four times during seasonal tree growth. An apple detection method based on calibrated apparent backscattered reflectance intensity (RToF) and geometric features, capturing linearity (L) and curvature (C) derived from the LiDAR 3D point cloud, is proposed. The iterative discretion of apple class from leaves and woody parts was obtained at RToF > 76.1%, L < 15.5%, and C > 73.2%. The position of fruit centers in TL and in TD was compared, showing a root mean square error (RMSE) of 5.7%. The diameter of apples estimated from the foliated trees was related to the reference values based on the perimeter of the fruits, revealing an adjusted coefficient of determination (R2adj) of 0.95 and RMSE of 9.5% at DAFB120. When comparing the results obtained on foliated and defoliated tree’s data, the estimated number of fruit’s on foliated trees at DAFB42, DAFB70, DAFB104, and DAFB120 88.6%, 85.4%, 88.5%, and 94.8% of the ground truth values, respectively. The algorithm resulted in maximum values of 88.2% precision, 91.0% recall, and 89.5 F1 score at DAFB120. The results point to the high capacity of LiDAR variables [RToF, C, L] to localize fruit and estimate its size by means of remote sensing.