空中與地面無人載具應用於3D果樹與樹林建模

3D Modeling of Fruit Tree Crowns and Large-scale Tree Scene by Unmanned Aerial Vehicle and Unmanned Ground Vehicle

本文章使用無人旋翼機結合無人多足地面機取得果樹可見光與近紅外光影像，運用影像資訊進行光譜分析與建立三維模型應用於果樹生長監控系統。無人旋翼機飛行藉由PID控制，依照路徑規劃，使無人旋翼機自動飛行收集果樹影像資訊；透過實時動態載波相位差分技術定位，誤差只達公分等級；空中的無人旋翼機加上地面的無人多足地面機，藉由上中下多角度影像疊合、立體視覺法與三角網格建模技術來建立三維模型，達到果樹生長情形的監控。

This article using unmanned aerial vehicle (UAV) combined with the multi-footed unmanned ground vehicle (UGV) to obtain visible and near-infrared images of fruit trees crowns. Using image information for spectral analysis and to build three-dimensional model apply in fruit tree growth monitoring systems. UAV flight is controlled by PID. According to the path planning, the UAV automatically collects the image information of the fruit tree. Through the real-time kinematic (RTK) technology, the positioning error is only up to the cm level. The UAV fl y in the air and the multi-foot UGV move in the ground to obtain the multi-angle image. Overlapping multi-view image, stereo vision and mesh segmentation modeling technology to establish a three-dimensional model to achieve the monitoring of fruit tree growth.