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3D modeling for agricultural field inspection robot

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dc.contributor.advisor Dailey, Matthew N. (Chairperson) en_US
dc.contributor.author Jednipat Moonrinta en_US
dc.contributor.other Mongkol Ekpanyayong (Member) en_US
dc.contributor.other Janecek, Paul (Member) en_US
dc.date.accessioned 2015-01-12T10:41:22Z
dc.date.available 2015-01-12T10:41:22Z
dc.date.issued 2010-05 en_US
dc.identifier.other AIT Thesis no.CS-10-04 en_US
dc.identifier.uri http://www.cs.ait.ac.th/xmlui/handle/123456789/388
dc.description Submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Computer Science. en_US
dc.description.abstract Through automated agricultural inspection, farmers can potentially achieve better productivity and accurately predict yields and crop quality. The cheapest device for collecting rich information about a crop is the video camera. This thesis focuses on the design, implementation, and evaluation of algorithms for extracting information about a pineapple crop from a monocular webcam fixed to a mobile inspection platform. The process begins with fruit detection and tracking in video sequence. I propose a 3D modeling algorithm that works with 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 main procedures: 3D point cloud estimation and 3D fruit shape reconstruction. Once the 3D point cloud for a fruit is obtained, the fruit shape reconstruction method estimates the shape and size of the fruit using a robust ellipsoid estimation technique. A series of experiments shows that the method produces a reasonably accurate 3D field map despite only partial and occluded views of the fruit. The prototype is thus a promising step towards the realization of automated mobile in-field agricultural inspection systems. en_US
dc.description.sponsorship Royal Thai Government en_US
dc.language.iso eng en_US
dc.publisher Asian Institute of Technology en_US
dc.subject Agriculture en_US
dc.subject Robot en_US
dc.subject 3D modeling en_US
dc.subject Modeling algorithm en_US
dc.subject Visualization en_US
dc.subject.lcsh Others en_US
dc.title 3D modeling for agricultural field inspection robot en_US
dc.type Thesis en_US
dc.rights.holder Copyright (C) 2010 by Asian Institute of Technology. en_US


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