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Author:Jokelainen, Visa
Title:Recognition and localisation of young trees using machine perception
Taimien tunnistus ja paikannus koneaistien avulla
Publication type:Master's thesis
Publication year:2010
Pages:[7] + 45 s. + liitt. 5      Language:   eng
Department/School:Automaatio- ja systeemitekniikan laitos
Main subject:Automaatiotekniikka   (AS-84)
Supervisor:Visala, Arto
Instructor:Kulovesi, Jakke
OEVS:
Electronic archive copy is available via Aalto Thesis Database.
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Location:P1 Ark Aalto  4717   | Archive
Keywords:machine vision
3D laser
edge detection
principal component analysis
morphology
forest environment
young stand
tree recognition
konenäkö
3D-laser
reunantunnistus
pääkomponenttianalyysi
morfologia
metsäympäristö
taimikko
puuntunnistus
Abstract (eng): Tending of seedling stands is an important part of modern Scandinavian silviculture.
However, operation of forest machinery in young stands is slow and inefficient.
The stand can be structured using machine perception.
This, in conjuction with semiautomatic motion control, makes improving working efficiency possible.

The objective of this thesis is to recognise and locate young trees from a forest area.
Measurement data has been collected using a colour camera and a three-dimensional laser scanner.
The camera's intrisic parameters were calibrated.
The extrinsic parameters between the laser and the camera were solved by projecting the laser data on the camera's image plane and by minimising the error between corresponding points.

A height map is generated from the laser data, which is then searched for treetop candidates.
Camera image is treated with edge detection algorithms in order to find tree trunks.
The location of actual trees can be deduced by combining treetop candidates with trunk data.

Results show, that recognising and localising young trees is possible.
Current methods work well, when the conditions are good.
Problems ensue from having too low a viewpoint or too much inclination in the data.
Abstract (fin): Nuoren taimikon hoitaminen on tärkeä työvaihe nykyaikaisessa pohjoismaisessa metsätaloudessa.
Metsäkoneen työskentely taimikossa on kuitenkin hidasta ja tehotonta.
Taimikkoa voidaan jäsentää koneaistien avulla, mikä mahdollistaa työn tehostamisen puoliautomaattisen liikkeenohjauksen avulla.

Työn tavoite on tunnistaa ja paikantaa metsäalalta yksittäisiä taimia.
Mittaus-dataa on kerätty värikameralla ja kolmiulotteisella laserkeilaimella.
Kameran sisäiset parametrit on ratkaistu kalibroimalla.
Kameran ja laserin keskinäinen orientaatio on ratkaistu projisoimalla laser-dataa kameran kuvatasolle ja minimoimalla vastinpisteiden välistä virhettä.

Laser-datasta luodaan korkeuskartta, jolta etsitään mahdollisia puun latvoja.
Kamerakuvalta haetaan puunrunkoja reunanetsintäalgoritmeilla.
Todellisten puiden sijainnit voidaan päätellä yhdistämällä latvakandidaatit ja runkotieto.

Tulokset osoittavat, että puiden tunnistus ja paikantaminen on mahdollista taimikossa.
Nykyiset menetelmät toimivat hyvin, kun olosuhteet ovat hyvät.
Datan kerääminen liian suurella kallistuksella tai liian matala kuvakulma aiheuttavat ongelmia.
ED:2010-09-20
INSSI record number: 40885
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