Applying agrochemicals is the default procedure for conventional weed control in crop production, but has negative impacts on the environment. Robots have the potential to treat every plant in the field individually and thus can reduce the required use of such chemicals. To achieve that, robots need the ability to identify crops and weeds in the field and must additionally select effective treatments. While certain types of weed can be treated mechanically, other types need to be treated by (selective) spraying. In this paper, we present an approach that provides the necessary information for effective plant-specific treatment. It outputs the stem location for weeds, which allows for mechanical treatments, and the covered area of the weed for selective spraying. Our approach uses an end-to-end trainable fully convolutional network that simultaneously estimates stem positions as well as the covered area of crops and weeds. It jointly learns the class-wise stem detection and the pixel-wise semantic segmentation. Experimental evaluations on different real-world datasets show that our approach is able to reliably solve this problem. Compared to state-of-the-art approaches, our approach not only substantially improves the stem detection accuracy, i.e., distinguishing crop and weed stems, but also provides an improvement in the semantic segmentation performance.
Moving towards a machine learning based approach, Haug al @cite_13 propose a system to detect plant stems using keypoint-based random forests. They employ a sliding window based classifier to predict stem regions by using several hand-crafted geometric and statistical features. Their evaluation shows that the approach often misses several stems for overlapping plants or generates false positives for leaf areas which locally appear to be stem regions. Kraemer al @cite_8 aim at addressing this issue by increasing the field of view of the classifier using a fully convolutional networks (FCN) @cite_17 . The goal of their work is to identify crop stems over a temporal period allowing them to use the stem locations as landmarks for localization.
@cite_13 @cite_17 @cite_8
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Agricultural robots are expected to increase yields in a sustainable way and automate precision tasks, such as weeding and plant monitoring. At the same time, they move in a continuously changing, semi-structured field environment, in which features can hardly be found and reproduced at a later time. Challenges for Lidar and visual detection systems stem from the fact that plants can be very small, overlapping and have a steadily changing appearance. Therefore, a popular way to localize vehicles with high accuracy is based on ex- pensive global navigation satellite systems and not on natural landmarks. The contribution of this work is a novel image- based plant localization technique that uses the time-invariant stem emerging point as a reference. Our approach is based on a fully convolutional neural network that learns landmark localization from RGB and NIR image input in an end-to-end manner. The network performs pose regression to generate a plant location likelihood map. Our approach allows us to cope with visual variances of plants both for different species and different growth stages. We achieve high localization accuracies as shown in detailed evaluations of a sugar beet cultivation phase. In experiments with our BoniRob we demonstrate that detections can be robustly reproduced with centimeter accuracy. Plant Diseases and Pests are a major challenge in the agriculture sector. An accurate and a faster detection of diseases and pests in plants could help to develop an early treatment technique while substantially reducing economic losses. Recent developments in Deep Neural Networks have allowed researchers to drastically improve the accuracy of object detection and recognition systems. In this paper, we present a deep-learning-based approach to detect diseases and pests in tomato plants using images captured in-place by camera devices with various resolutions. Our goal is to find the more suitable deep-learning architecture for our task. Therefore, we consider three main families of detectors: Faster Region-based Convolutional Neural Network (Faster R-CNN), Region-based Fully Convolutional Network (R-FCN), and Single Shot Multibox Detector (SSD), which for the purpose of this work are called “deep learning meta-architectures”. We combine each of these meta-architectures with “deep feature extractors” such as VGG net and Residual Network (ResNet). We demonstrate the performance of deep meta-architectures and feature extractors, and additionally propose a method for local and global class annotation and data augmentation to increase the accuracy and reduce the number of false positives during training. We train and test our systems end-to-end on our large Tomato Diseases and Pests Dataset, which contains challenging images with diseases and pests, including several inter- and extra-class variations, such as infection status and location in the plant. Experimental results show that our proposed system can effectively recognize nine different types of diseases and pests, with the ability to deal with complex scenarios from a plant’s surrounding area. We propose a shape-based, hierarchical part-template matching approach to simultaneous human detection and segmentation combining local part-based and global shape-template-based schemes. The approach relies on the key idea of matching a part-template tree to images hierarchically to detect humans and estimate their poses. For learning a generic human detector, a pose-adaptive feature computation scheme is developed based on a tree matching approach. Instead of traditional concatenation-style image location-based feature encoding, we extract features adaptively in the context of human poses and train a kernel-SVM classifier to separate human nonhuman patterns. Specifically, the features are collected in the local context of poses by tracing around the estimated shape boundaries. We also introduce an approach to multiple occluded human detection and segmentation based on an iterative occlusion compensation scheme. The output of our learned generic human detector can be used as an initial set of human hypotheses for the iterative optimization. We evaluate our approaches on three public pedestrian data sets (INRIA, MIT-CBCL, and USC-B) and two crowded sequences from Caviar Benchmark and Munich Airport data sets. This paper describes the participation of the Floristic consortium to the LifeCLEF 2016 plant identification challenge[18]. The aim of the task was to produce a list of relevant species for a large set of plant images related to 1000 species of trees, herbs and ferns living in Western Europe, knowing that some of these images belonged to unseen categories in the training set like plant species from other areas, horticultural plants or even off topic images (people, keyboards, animals, etc). To address this challenge, we first experimented as a baseline, without any rejection procedure, a Convolutional Neural Network (CNN) approach based on a slightly modified GoogLeNet model. In a second run, we applied a simple rejection criteria based on probability threshold estimation on the output of the CNN, one for each species, for removing automatically species propositions judged irrelevant. In the third run, rather than definitely eliminating some species predictions with the risk to remove false negative propositions, we applied various attenuation factors in order to revise the probability distributions given by the CNN as confident score expressing how much a query was related or not to the known species. More precisely, for this last run we used the geographical information and several cohesion measures in terms of observation, "organ" tags and taxonomy (genus and family levels) based on a knn similarity search results within the training set.