Target Geolocation For Agricultural Applications Via An Octorotor

Keywords

Kalman Filters; Precision Agriculture; Tracking Applications; UAV

Abstract

In this paper, an orthographic projection based Kalman filter is designed to estimate the location of identified targets for use in disease detection applications for strawberry trees or other shallow crops. The process model and measurement model are formulated, relating the global target position to its corresponding image pixel, taking into account assumptions pertinent to a typical strawberry orchard. An octorotor is custom-designed and built, and expected to carry a spectral camera in hover flight. The camera producing the images of the target is stabilized by a gimbal. An orthographic projection model is adopted here because of the shallow depth of the crop when compared to the camera altitude. This projection approach leads to a Kalman filter design. Firstly, the approach is tested through simulation. Secondly, it is validated in an ad-hoc experiment using a recorded video taken by the octorotor.

Publication Date

1-1-2016

Publication Title

IFAC-PapersOnLine

Volume

49

Issue

16

Number of Pages

27-32

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1016/j.ifacol.2016.10.006

Socpus ID

84994765285 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84994765285

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