IEEE Robotics & Automation Magazine - September 2021 - 34

The same underlying lightweight FCN structure was
deployed on our UAV systems [18]. Here, we used the FCN in
a classical single-image fashion, as the larger footprint of
the camera implicitly covered enough information
about the plant arrangement. Through our crop and weed
classification systems, we enabled UGVs to perform
plant-specific, high-precision in-field treatments and
transformed the UAVs into an efficient system for cropmonitoring
applications.
Automatic Synthetic Data Set Generation
High-performing, data-driven plant-classification approaches
usually require large annotated data sets acquired from
across different plant growth stages and weather conditions.
Annotating such data sets at a pixel level is an extremely
time-consuming task.
We address this problem by proposing an automatic,
model-based data set generation procedure [19] that produces
large synthetic training data sets by rendering a large
number of photo-realistic views of an artificial agricultural
scenario using a modern 3D graphic engine. To do so, we
randomize a few key parameters (e.g., the size, deformation,
and distribution of leaves; the structure of plants;
types of soil; and so on) using a bottom-up procedure
(see Figure 6):
●
We model the leaves of the target plants using kinematic
chains upon which we apply a few real-world
RGB textures.
●
We model the plants through radially distributed leaf
layers, where the number of leaves per layer depends on
plant species and their growth stages.
●
A virtually infinite number of realistic agricultural
scenes can be then rendered by adding random soil
backgrounds and sampling random illumination conditions
and plant distributions; the ground-truth segmentation
masks are automatically generated by the
graphic engine;.
●
The generated synthetic data sets can be used to effectively
train modern deep learning-based image-segmentation
architectures.
(a)
(b)
Figure 5. (a) The BoniRob UGV acquiring images while driving along the crop row. Our approach [16] exploits an image sequence by
selecting those images from the history that do not overlap in object space. (b) The exemplary prediction of crop plants and weeds
for the entire image sequence. Note that the model was trained on data acquired in a different field.
34 * IEEE ROBOTICS & AUTOMATION MAGAZINE * SEPTEMBER 2021

IEEE Robotics & Automation Magazine - September 2021

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2021

Contents
IEEE Robotics & Automation Magazine - September 2021 - Cover1
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IEEE Robotics & Automation Magazine - September 2021 - Contents
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IEEE Robotics & Automation Magazine - September 2021 - Cover3
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