1. Tree Canopy Size and Density Assessment with a Laser Scanner Citrus Research and Education Center Masoud Salyani and J. Brian Wei 2 nd Workshop on Precision Agriculture for Florida Citrus January 21, 2004

2. Citrus grove with dead trees and resets

3. Spray drift

4. Ultrasonic sensors

7. Photocells

8. Laser sensor

10. CREC Laser system in operation

11. Scanning system principle

12. Scan profile

13. Schematic view of a Distance image i+1+ ΔW XLXL XRXR YBYB YTYT j j+1 i Illustrated in next slide (1,1) x y

14. Pseudo-color image of a tree

15. Spatial resolution test A HIJK LM B A HIJK LM BCD EFG C D E F G

16. A HIJK LM BCDE F G Not continuous Continuous image lines Distance image for vertical targets (horizontal resolution)

17. A HIJK LM B C D E F G Not continuous Continuous Distance image for horizontal targets (Vertical resolution)

18. A HIJK LM BCDEFG White Black Signal amplitude image for vertical targets

19. Ground truth of length measurements in three dimensions

20. Std. dev. Manual vs. laser length measurements

21. Picture of a test tree

22. Signal amplitude image

23. Distance image

24. Inverted distance image

25. Smoothing of canopy boundary Figure 2: Scanning illustration and canopy boundary smoothing Ground L ij L ij+1 LL ij+1 LL ij Ө Sensor Smoothed canopy Original canopy HsHs β D Deep gap Shallow gap Through hole

26. Peak-link algorithm

27. Distance image – smoothed by peak-link algorithm

28. D 1a D 2a HaHa HbHb HdHd HcHc Ground Level D 2c D 1c D 1b D 2b Tree Canopy Manual Volume Measurement

29. Manual- and laser-measured volumes Std. dev.

30. Canopy volume at different heights of trees

31. Visual vs. laser-measured densities

32. Corr. bet. Visual and laser-measured densities

33. Foliage density at north and south sides of trees Std. dev.

34. Foliage density at different tree heights

35. User Interface

36. Amplitude image of one row Processed canopy image of the row

37. Real-time measurements of one row

38. Real-time run, 1 mph

39. Real-time run, 3 mph

40. Thank you