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題名 | 空中與地面無人載具應用於3D果樹與樹林建模=3D Modeling of Fruit Tree Crowns and Large-scale Tree Scene by Unmanned Aerial Vehicle and Unmanned Ground Vehicle |
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作者 | 黃韋蒼; 于鈞; 顏永哲; 施睿庠; 李易昇; 林修國; 陳宗正; 黃基倬; 陳怡君; 邱俊誠; 歐陽盟; 歐陽盟; Huang, Wei-tsang; Yu, Chun; Yan, Yung-jhe; Shih, Ruei-siang; Li, Yi-sheng; Lin, Shiou-gwo; Chen, Tzung-cheng; Huang, Chi Cho; Chen, Yi-chun; Chiou, Jin-chern; Ou-Yang, Mang; Ou-yang, Mang; |
期刊 | 科儀新知 |
出版日期 | 20190900 |
卷期 | 220 2019.09[民108.09] |
頁次 | 頁40-61 |
分類號 | 435.11 |
語文 | chi |
關鍵詞 | 無人載具; 三維模型; 果樹生長監控; |
中文摘要 | 本文章使用無人旋翼機結合無人多足地面機取得果樹可見光與近紅外光影像,運用影像資訊進行光譜分析與建立三維模型應用於果樹生長監控系統。無人旋翼機飛行藉由比例積分微分控制器 (PID) 控制,依照路徑規劃,使無人旋翼機自動飛行收集果樹影像資訊;透過實時動態載波相位差分技術定位,誤差只達公分等級;空中的無人旋翼機加上地面的無人多足地面機,藉由上中下多角度影像疊合、立體視覺法與三角網格建模技術來建立三維模型,達到果樹生長情形的監控。 |
英文摘要 | This article using unmanned aerial vehicle (UAV) combined with the multi-footed unmanned ground vehicle (UGV) to obtain visible and near-infrared images of the crowns of fruit trees. Using image information for spectral analysis and to build three-dimensional model apply in fruit tree growth monitoring systems. UAV flight is controlled by PID controller. Along with the path planning, the UAV automatically collects the image information of the crowns. Through the self-developed real-time kinematic (RTK) module, the positioning error is only up to the cm level. The UAV fly in the air and the multi-foot UGV simultaneously move in the ground to obtain the multi-angle images. Using registration multi-view images, stereo vision and mesh segmentation modeling technology could construct a three-dimensional model to achieve the monitoring of fruit tree growth. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。