Field Robot for High-throughput and High-resolution 3D Plant Phenotyping

Abstract

With the need to feed a growing world population, the efficiency of crop production is of paramount importance. To support breeding and field management, various characteristics of the plant phenotype need to be measured -- a time-consuming process when performed manually. We present a robotic platform equipped with multiple laser and camera sensors for high-throughput, high-resolution in-field plant scanning. We create digital twins of the plants through 3D reconstruction. This allows the estimation of phenotypic traits such as leaf area, leaf angle, and plant height. We validate our system on a real field, where we reconstruct accurate point clouds and meshes of sugar beet, soybean, and maize.

Code and data availability

The paper describes a field phenotyping robot and its datasets (≈2.3 TB images, ≈100 GB point clouds), but no public deposit, availability statement, or authors' URL for these data or code appears in the supplied blocks. All allowed URLs are cited only as third-party tools, platforms, or libraries (TerraSentia, Robotti

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