A Light Detection and Ranging (LiDAR) sensor mounted on an Unmanned Aerial Vehicle (UAV) can map the overflown environment in point clouds. Mapped canopy heights allow for the estimation of crop biomass in agriculture. The work presented in this paper contributes to sensory UAV setup design for mapping and textual analysis of agricultural fields. LiDAR data are combined with data from Global Navigation Satellite System (GNSS) and Inertial Measurement Unit (IMU) sensors to conduct environment mapping for point clouds. The proposed method facilitates LiDAR recordings in an experimental winter wheat field. Crop height estimates ranging from 0.35–0.58 m are correlated to the applied nitrogen treatments of 0–300 kgNha. The LiDAR point clouds are recorded, mapped, and analysed using the functionalities of the Robot Operating System (ROS) and the Point Cloud Library (PCL). Crop volume estimation is based on a voxel grid with a spatial resolution of 0.04 × 0.04 × 0.001 m. Two different flight patterns are evaluated at an altitude of 6 m to determine the impacts of the mapped LiDAR measurements on crop volume estimations.

In this paper, we present a multi-modal dataset for obstacle detection in agriculture. The dataset comprises approximately 2 h of raw sensor data from a tractor-mounted sensor system in a grass mowing scenario in Denmark, October 2016. Sensing modalities include stereo camera, thermal camera, web camera, 360∘ camera, LiDAR and radar, while precise localization is available from fused IMU and GNSS. Both static and moving obstacles are present, including humans, mannequin dolls, rocks, barrels, buildings, vehicles and vegetation. All obstacles have ground truth object labels and geographic coordinates.

For decades, significant effort has been put into the development of plant detection and classification algorithms. However, it has been difficult to compare the performance of the different algorithms, due to the lack of a common testbed, such as a public available annotated reference dataset. In this paper, we present the Open Plant Phenotype Database (OPPD), a public dataset for plant detection and plant classification. The dataset contains 7590 RGB images of 47 plant species. Each species is cultivated under three different growth conditions, to provide a high degree of diversity in terms of visual appearance. The images are collected at the semifield area at Aarhus University, Research Centre Flakkebjerg, Denmark, using a customized data acquisition platform that provides well-illuminated images with a ground resolution of ∼6.6 px mm − 1 . All images are annotated with plant species using the EPPO encoding system, bounding box annotations for detection and extraction of individual plants, applied growth conditions and time passed since seeding. Additionally, the individual plants have been tracked temporally and given unique IDs. The dataset is accompanied by two experiments for: (1) plant instance detection and (2) plant species classification. The experiments introduce evaluation metrics and methods for the two tasks and provide baselines for future work on the data.