RESUMO
Diameter and height are crucial morphological parameters of banana pseudo-stems, serving as indicators of the plant's growth status. Currently, in densely cultivated banana plantations, there is a lack of applicable research methods for the scalable measurement of phenotypic parameters such as diameter and height of banana pseudo-stems. This paper introduces a handheld mobile LiDAR and Inertial Measurement Unit (IMU)-fused laser scanning system designed for measuring phenotypic parameters of banana pseudo-stems within banana orchards. To address the challenges posed by dense canopy cover in banana orchards, a distance-weighted feature extraction method is proposed. This method, coupled with Lidar-IMU integration, constructs a three-dimensional point cloud map of the banana plantation area. To overcome difficulties in segmenting individual banana plants in complex environments, a combined segmentation approach is proposed, involving Euclidean clustering, Kmeans clustering, and threshold segmentation. A sliding window recognition method is presented to determine the connection points between pseudo-stems and leaves, mitigating issues caused by crown closure and heavy leaf overlap. Experimental results in banana orchards demonstrate that, compared with manual measurements, the mean absolute errors and relative errors for banana pseudo-stem diameter and height are 0.2127 cm (4.06%) and 3.52 cm (1.91%), respectively. These findings indicate that the proposed method is suitable for scalable measurements of banana pseudo-stem diameter and height in complex, obscured environments, providing a rapid and accurate inter-orchard measurement approach for banana plantation managers.
RESUMO
BACKGROUND: The number of banana plants is closely related to banana yield. The diameter and height of the pseudo-stem are important morphological parameters of banana plants, which can reflect the growth status and vitality. To address the problems of high labor intensity and subjectivity in traditional measurement methods, a fast measurement method for banana plant count, pseudo-stem diameter, and height based on terrestrial laser scanning (TLS) was proposed. RESULTS: First, during the nutritional growth period of banana, three-dimensional (3D) point cloud data of two measured fields were obtained by TLS. Second, the point cloud data was preprocessed. And the single plant segmentation of the canopy closed banana plant point cloud was realized furtherly. Finally, the number of banana plants was obtained by counting the number of pseudo-stems, and the diameter of pseudo-stems was measured using a cylindrical segmentation algorithm. A sliding window recognition method was proposed to determine the junction position between leaves and pseudo-stems, and the height of the pseudo-stems was measured. Compared with the measured value of artificial point cloud, when counting the number of banana plants, the precision,recall and percentage error of field 1 were 93.51%, 94.02%, and 0.54% respectively; the precision,recall and percentage error of field 2 were 96.34%, 92.00%, and 4.5% respectively; In the measurement of pseudo-stem diameter and height of banana, the root mean square error (RMSE) of pseudo-stem diameter and height of banana plant in field 1 were 0.38 cm and 0.2014 m respectively, and the mean absolute percentage error (MAPE) were 1.30% and 5.11% respectively; the RMSE of pseudo-stem diameter and height of banana plant in field 2 were 0.39 cm and 0.2788 m respectively, and the MAPE were 1.04% and 9.40% respectively. CONCLUSION: The results show that the method proposed in this paper is suitable for the field measurement of banana count, pseudo-stem diameter, and height and can provide a fast field measurement method for banana plantation management.