Automated Route Planning from LiDAR Point Clouds for Agricultural Applications †
Abstract
:1. Introduction
2. Materials and Methods
2.1. Software Development
2.2. Obtaining the Global Point Cloud from the Windrow Area
- Windrow Area Filter: The windrows are always located within the same area on the composting plant. Therefore, the extent of this area is defined using a confining polygon (Windrow Area Polygon) created from known 2D coordinates. All points outside this polygon are simply filtered out during the initialization.
- Local Box Filter: Points are only added to the global point cloud when they are within a certain vertical range from the ground and within a certain horizontal distance from the LiDAR. The vertical range ensures that ground points are removed. The horizontal distance ensures that points that are further away from the LiDAR—and, therefore, have a lower accuracy—are not included.
- Downsampling: The constant addition of the current LiDAR point cloud to the global cloud leads to areas that have a very high point density. In a downsampling step, the total amount of points can be reduced, especially in these dense areas, by making sure that only one point is kept within a specified Downsampling Radius.
2.3. Extraction of the Windrow Clusters
2.4. Finding the Optimal Route through each Windrow Cluster
2.5. Route Planning Algorithm for the Compost Turner
2.6. Simulation Environment
3. Results
3.1. Detection Results for a Single Windrow
3.2. Detection Results for Multiple Initialization Rounds
4. Discussion
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
Abbreviations
ESKF | Error State Kalman Filter |
GNSS | Global Navigation and Satellite System |
IMU | Inertial Measurement Unit |
LiDAR | Light Detection and Ranging |
PCL | Point Cloud Library |
RANSAC | Random Sample Consensus |
ROS | Robot Operating System |
RTK | Real-Time Kinematic |
TEB | Timed Elastic Band |
UAV | Unmanned Aerial Vehicle |
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Setting | Set A | Set B | Set C |
---|---|---|---|
Downsampling Radius | 0.10 m | 0.20 m | 0.30 m |
Clustering Distance Tolerance | 0.15 m | 0.30 m | 0.45 m |
Min. Number of Points in Cluster | 1000 | 500 | 300 |
Max. Number of Points in Cluster | 100,000 | 50,000 | 30,000 |
Local Crop Box: | |||
Horizontal Distance from LiDAR | 25 m | ||
Vertical Range above Ground | 0.9–1.8 m | ||
RANSAC Distance Thresholds: | |||
Plane | 0.5 m | ||
Line 1 | 0.7 m | ||
Line 2 | 0.5 m | ||
Ridge Points—Keep Percentage | 40% |
Set A | Set B | Set C | ||||
---|---|---|---|---|---|---|
Standard Deviations | Standard Deviations | Standard Deviations | ||||
ID |
Points (2D) [m] |
Orientation [°] |
Points (2D) [m] |
Orientation [°] |
Points (2D) [m] |
Orientation [°] |
1 | 0.10 | 0.43 | 0.07 | 0.41 | 0.16 | 0.41 |
2 | 0.05 | 0.16 | 0.15 | 0.35 | 0.11 | 0.34 |
3 | 0.08 | 0.29 | 0.09 | 0.25 | 0.16 | 0.39 |
4 | 0.06 | 0.15 | 0.06 | 0.18 | 0.12 | 0.35 |
5 | 0.07 | 0.36 | 0.10 | 0.28 | 0.11 | 0.13 |
6 | 0.06 | 0.28 | 0.12 | 0.28 | 0.13 | 0.50 |
7 | 0.09 | 0.18 | 0.08 | 0.26 | 0.08 | 0.14 |
8 | 0.10 | 0.08 | 0.13 | 0.23 | 0.11 | 0.29 |
9 | 0.07 | 0.24 | 0.08 | 0.12 | 0.13 | 0.36 |
10 | 0.08 | 0.20 | 0.11 | 0.31 | 0.14 | 0.43 |
11 | 0.06 | 0.11 | 0.04 | 0.14 | 0.10 | 0.12 |
12 | 0.05 | 0.16 | 0.08 | 0.43 | 0.10 | 0.32 |
13 | 0.07 | 0.15 | 0.10 | 0.27 | 0.09 | 0.11 |
14 | 0.04 | 0.07 | 0.08 | 0.22 | 0.16 | 0.26 |
15 | 0.09 | 0.38 | 0.11 | 0.62 | 0.10 | 1.03 |
16 | 0.10 | 1.13 | 0.09 | 0.90 | 0.11 | 1.45 |
Average | 0.07 | 0.27 | 0.09 | 0.33 | 0.12 | 0.41 |
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Theurl, F.; Schmied, C.; Reitbauer, E.; Wieser, M. Automated Route Planning from LiDAR Point Clouds for Agricultural Applications. Eng. Proc. 2023, 54, 54. https://doi.org/10.3390/ENC2023-15448
Theurl F, Schmied C, Reitbauer E, Wieser M. Automated Route Planning from LiDAR Point Clouds for Agricultural Applications. Engineering Proceedings. 2023; 54(1):54. https://doi.org/10.3390/ENC2023-15448
Chicago/Turabian StyleTheurl, Fabian, Christoph Schmied, Eva Reitbauer, and Manfred Wieser. 2023. "Automated Route Planning from LiDAR Point Clouds for Agricultural Applications" Engineering Proceedings 54, no. 1: 54. https://doi.org/10.3390/ENC2023-15448