Wine growers prefer cultivars with looser bunch architecture because of the decreased risk for bunch rot. As a consequence, grapevine breeders have to select seedlings and new cultivars with regard to appropriate bunch traits. Bunch architecture is a mosaic of different single traits which makes phenotyping labor-intensive and time-consuming. In the present study, a fast and high-precision phenotyping pipeline was developed. The optical sensor Artec Spider 3D scanner (Artec 3D, L-1466, Luxembourg) was used to generate dense 3D point clouds of grapevine bunches under lab conditions and an automated analysis software called 3D-Bunch-Tool was developed to extract different single 3D bunch traits, i.e., the number of berries, berry diameter, single berry volume, total volume of berries, convex hull volume of grapes, bunch width and bunch length. The method was validated on whole bunches of different grapevine cultivars and phenotypic variable breeding material. Reliable phenotypic data were obtained which show high significant correlations (up to r2 = 0.95 for berry number) compared to ground truth data. Moreover, it was shown that the Artec Spider can be used directly in the field where achieved data show comparable precision with regard to the lab application. This non-invasive and non-contact field application facilitates the first high-precision phenotyping pipeline based on 3D bunch traits in large plant sets.
We present a fast method of detecting loop closure opportunities through the use of similarity measures on histograms extracted from 3-D LIDAR data. We avoid computationally expensive features and compute histograms over simple global statistics of the LIDAR scans. The resulting histograms encode sufficient information to detect spatially close scans with high precision and recall and can be computed at rates faster than data acquisition on modest consumer-grade hardware. Our approach is able to match previously established results in LIDAR loop closure detection with less computational overhead
In grapevine breeding, loose grape bunch architecture is one of the most important selection traits, contributing to an increased resilience towards Botrytis bunch rot. Grape bunch architecture is mainly influenced by the berry number, berry size, the total berry volume, and bunch width and length. For an objective, precise, and high-throughput assessment of these architectural traits, the 3D imaging sensor Artec® Spider was applied to gather dense point clouds of the visible side of grape bunches directly in the field. Data acquisition in the field is much faster and non-destructive in comparison to lab applications but results in incomplete point clouds and, thus, mostly incomplete phenotypic values. Therefore, lab scans of whole bunches (360°) were used as ground truth. We observed strong correlations between field and lab data but also shifts in mean and max values, especially for the berry number and total berry volume. For this reason, the present study is focused on the training and validation of different predictive regression models using 3D data from approximately 2000 different grape bunches in order to predict incomplete bunch traits from field data. Modeling concepts included simple linear regression and machine learning-based approaches. The support vector machine was the best and most robust regression model, predicting the phenotypic traits with an R2 of 0.70–0.91. As a breeding orientated proof-of-concept, we additionally performed a Quantitative Trait Loci (QTL)-analysis with both the field modeled and lab data. All types of data resulted in joint QTL regions, indicating that this innovative, fast, and non-destructive phenotyping method is also applicable for molecular marker development and grapevine breeding research.
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