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Using areal and ground-based robotics systems is one possible component on the way to more sustainable crop production. In this work, we show, how a combination of a UAV and ground robot can be used to automate the process of single plant and even leaf-level inspection of crops in the field, as the farmer usually does manually by physically going to the plants. The work integrates UAV-based plant and weed mapping, UGV path planning and execution, viewpoint planning and control of a robot-mounted arm with a multi-camera head, as well as high-resolution 3D reconstruction.

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Automated Leaf-Level Inspection of Crops Combining UAV and UGV Robots

  • 会议论文

  • 发表日期：

    2025年

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  • Felix Esser,
  • Elias Marks,
  • Federico Magistri,
  • Jan Weyler,
  • Simon Bultmann,
  • Tobias Zaenker,
  • Alireza Ahmadi,
  • Michael Schreiber,
  • Heiner Kuhlmann,
  • Chris McCool,
  • Marija Popović,
  • Cyrill Stachniss,
  • Sven Behnke,
  • Maren Bennewitz,
  • Lasse Klingbeil

摘要

Using areal and ground-based robotics systems is one possible component on the way to more sustainable crop production. In this work, we show, how a combination of a UAV and ground robot can be used to automate the process of single plant and even leaf-level inspection of crops in the field, as the farmer usually does manually by physically going to the plants. The work integrates UAV-based plant and weed mapping, UGV path planning and execution, viewpoint planning and control of a robot-mounted arm with a multi-camera head, as well as high-resolution 3D reconstruction.