This paper introduces a laser scanner based measurement system for measuring crop/tree geometric characteristics. The measurement system, which is mounted on a Unmanned Ground Vehicle (UGV), contains a SICK LMS511 PRO laser scanner, a GPS, and a computer. The LMS511 PRO scans objects within distance up to 80 meters with a scanning frequency of 25 up to 100Hz and with an angular resolution of 0.1667° up to 1°. With an Ethernet connection, this scanner can output the measured values in real time. The UGV is a WIFI based remotely controlled agricultural robotics system. During field tests, the laser scanner was mounted on the UGV vertically to scan crops or trees. The UGV moved along the row direction with certain average travel speed. The experimental results show that the UGV's travel speed significantly affects the measurement accuracy. A slower speed produces more accurate measuring results. With the developed measurement system, crop/tree canopy height, width, and volume can be accurately measured in a real-time manner. With a higher spatial resolution, the original data set may even provide useful information in predicting crop/tree growth and productivity. In summary, the UGV based measurement system developed in this research can measure the crop/tree geometric characteristics with good accuracy and will work as a step stone for our future UGV based intelligent agriculture system, which will include variable rate spray and crop/tree growth and productivity prediction through analyzing the measured results of the laser scanner system.
In this paper, we present a novel approach on image object removal by extending subpatch texture synthesis
technique into redundant wavelet transform (RDWT) domain. As an overcompleted wavelet transform, RDWT
is shift invariant and obtained without downsampling. Also, each RDWT highpass subband exhibits one specific
orientation features of the image, in horizontal, vertical, or diagonal. All these make RDWT ideal for performing
texture synthesis object removal techniques. In our experiments, subpatch texture synthesis in RDWT is
introduced to remove unwanted objects from digital photographs. Specifically, for each RDWT subband, depending
on the subband orientation, a particular direction subpatch texture synthesis is applied independently.
Experimental results reveal that our simple algorithm performs better than previous methods.
In the scalar-valued setting, it is well-known that the two-scale sequences {qk} of Daubechies orthogonal wavelets can be given explicitly by the two-scale sequences {pk} of their corresponding orthogonal scaling functions, such as qk = (-1)kp1-k. However, due to the non-commutativity of matrix multiplication, there is little such development in the multi-wavelet literature to express the two-scale matrix sequence {Qk} of an orthogonal multi-wavelet in terms of the two-scale matrix sequence {Pk} of its corresponding multi-scaling function vector. This paper, in part, is devoted to this study for the setting of orthogonal multi-wavelets of dimension r = 2. We will apply our results to constructing a family of the most recently introduced notion of armlet of order n and a family of the n-balanced orthogonal multi-wavelets.
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