DSpace Repository

Multirotor-Based Automated Tree Maturity Determination in the Field Using Monocular SLAM

Show simple item record

dc.contributor.advisor Dailey, Matthew
dc.contributor.author Kritpranam, Teera
dc.contributor.other Soni, Peeyush
dc.contributor.other Ekpanyapong, Mongkol
dc.date.accessioned 2018-12-04T07:27:01Z
dc.date.available 2018-12-04T07:27:01Z
dc.date.issued 2018-12
dc.identifier.other AIT
dc.identifier.uri http://www.cs.ait.ac.th/xmlui/handle/123456789/920
dc.description 101 p. en_US
dc.description.abstract In wood production, the implementation of automated tree maturity determination technology is af of yet unprecedented. However, advances in computer vision technology open an opportunity to bring automated tree maturity determination applications into reality. In this thesis, I present a mobile data collection platform that can be installed on a mid-sized multirotor UAV and an automated tree maturity determination application that automatically detects and estimates the circumference and height of individual trees from image sequences. The data collection platform is constructed with mobility in mind and is used to collect image sequences in the field at tree farms. The automated tree maturity determination application is developed based on ORB-SLAM2 and the point cloud library (PCL). It takes image sequences from the data collection platform and generates 3D point clouds representing the scene of a tree farm using a modified ORB-SLAM2 method. Then, the application detects subsets of 3D points representing individual trees and estimates the circumference and height of these trees from the detected subsets of 3D points using built-in algorithms included in the PCL. The application is able to estimate tree height and width with approximately a 22\% error rate for both detection and estimation tasks. Apart from the considerable error rate, the application is a proof of concept and a prototype for using computer vision technology to estimate circumference and height of the trees in the wood production industry. en_US
dc.description.sponsorship Thailand (HM King) en_US
dc.language.iso en_US en_US
dc.publisher AIT en_US
dc.subject visual SLAM method en_US
dc.subject ORB-SLAM2 en_US
dc.subject computer vision en_US
dc.subject tree maturity determination en_US
dc.subject tree width measurement en_US
dc.subject tree height measurement en_US
dc.subject point cloud en_US
dc.subject 3D point cloud en_US
dc.subject cylinder fitting en_US
dc.title Multirotor-Based Automated Tree Maturity Determination in the Field Using Monocular SLAM en_US
dc.type Thesis en_US

Files in this item

This item appears in the following Collection(s)

Show simple item record

Search DSpace

Advanced Search


My Account