2022-08-05 更新
Semantic Segmentation of Fruits on Multi-sensor Fused Data in Natural Orchards
Authors:Hanwen Kang, Xing Wang
Semantic segmentation is a fundamental task for agricultural robots to understand the surrounding environments in natural orchards. The recent development of the LiDAR techniques enables the robot to acquire accurate range measurements of the view in the unstructured orchards. Compared to RGB images, 3D point clouds have geometrical properties. By combining the LiDAR and camera, rich information on geometries and textures can be obtained. In this work, we propose a deep-learning-based segmentation method to perform accurate semantic segmentation on fused data from a LiDAR-Camera visual sensor. Two critical problems are explored and solved in this work. The first one is how to efficiently fused the texture and geometrical features from multi-sensor data. The second one is how to efficiently train the 3D segmentation network under severely imbalance class conditions. Moreover, an implementation of 3D segmentation in orchards including LiDAR-Camera data fusion, data collection and labelling, network training, and model inference is introduced in detail. In the experiment, we comprehensively analyze the network setup when dealing with highly unstructured and noisy point clouds acquired from an apple orchard. Overall, our proposed method achieves 86.2% mIoU on the segmentation of fruits on the high-resolution point cloud (100k-200k points). The experiment results show that the proposed method can perform accurate segmentation in real orchard environments.
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Relict landslide detection in rainforest areas using a combination of k-means clustering algorithm and Deep-Learning semantic segmentation models
Authors:Guilherme P. B. Garcia, Carlos H. Grohmann, Lucas P. Soares, Mateus Espadoto
Landslides are destructive and recurrent natural disasters on steep slopes and represent a risk to lives and properties. Knowledge of relict landslides’ location is vital to understand their mechanisms, update inventory maps and improve risk assessment. However, relict landslide mapping is complex in tropical regions covered with rainforest vegetation. A new CNN approach is proposed for semi-automatic detection of relict landslides, which uses a dataset generated by a k-means clustering algorithm and has a pre-training step. The weights computed in the pre-training are used to fine-tune the CNN training process. A comparison between the proposed and standard approaches is performed using CBERS-4A WPM images. Three CNNs for semantic segmentation are used (U-Net, FPN, Linknet) with two augmented datasets. A total of 42 combinations of CNNs are tested. Values of precision and recall were very similar between the combinations tested. Recall was higher than 75\% for every combination, but precision values were usually smaller than 20\%. False positives (FP) samples were addressed as the cause for these low precision values. Predictions of the proposed approach were more accurate and correctly detected more landslides. This work demonstrates that there are limitations for detecting relict landslides in areas covered with rainforest, mainly related to similarities between the spectral response of pastures and deforested areas with \textit{Gleichenella sp.} ferns, commonly used as an indicator of landslide scars.
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