Estimating Citrus Canopy Profile Using an Array of Range Sensors and 3D Mapping

Abstract. A variety of sensors have been used in the past to estimate tree canopy volume including laser radar, ultrasonic sensors, and machine vision. This paper presents a comparison of a new technology known as Leddar®, which is an LED based substitute for the more expensive LiDAR, with the more practical but problematic Ultrasonic based range system. In this paper, a concept mapping system which can be mounted on an Over-the-Top machine platform to map the complete tree profile in a single pass is introduced. An indoor experimental setup will be used to test Ultrasonic sensors and Leddar® sensors for creating a 3D profile of a known geometric artificial canopy. The experimental setup and methods of data extraction and mapping will be discussed. A accuracy comparison will be made between the two sensor approaches. Once the instrumentation, data acquisition and mapping algorithms are implemented and performance verified, the system will be used during a field trial where actual tree data will be compared.