Plant acoustic density profile model of CTFM ultrasonic sensing

Author

McKerrow, Phillip ; Harper, Neil

Author_Institution

Sch. of Inf. Technol. & Comput. Sci., Wollongong Univ., NSW, Australia

Volume

1

Issue

4

fYear

2001

fDate

12/1/2001 12:00:00 AM

Firstpage

245

Lastpage

255

Abstract

Many applications require the sensing of plants. When an ultrasonic sensor insonifies a plant, the resultant echo is the superposition of the echoes from the leaves. As a result, the echo contains information about the geometric structure of the foliage. In this paper, we present a model of sensing that facilitates the extraction of geometric features from the echo for plant classification, recognition and discrimination. We model the echo from a CTFM ultrasonic sensor with the acoustic density profile model. Then, we identify a set of features that represent plant geometric characteristics and use these to perform an inverse transform from echo features to plant geometry

Keywords

agriculture; chirp modulation; feature extraction; frequency modulation; mobile robots; path planning; pattern classification; robot vision; sensor fusion; sonar signal processing; CTFM ultrasonic sensing; acoustic shadowing; agricultural robots; continuously transmitted frequency modulated system; fast Fourier transform; foliage geometric structure; forward transformation; frequency modulated chirp; geometric features extraction; inverse transformation; leaf echoes superposition; machine perception; mobile robots; oval transducers; plant acoustic density profile model; plant classification; plant discrimination; plant landmarks; plant recognition; plant sensing; robot navigation; threshold features; ultrasonic chirp; vision system; Acoustic sensors; Computational geometry; Crops; Data mining; Navigation; Robot kinematics; Robot sensing systems; Shape; Solid modeling; Sonar;

fLanguage

English

Journal_Title

Sensors Journal, IEEE

Publisher

ieee

ISSN

1530-437X

Type

jour

DOI

10.1109/7361.983464

Filename

983464