Error Evaluation of Semantic VSLAM Algorithms for Smart Farming

Adam Kalisz, Mingjun Sun, Jonas Gedschold, Tim Erich Wegner, Giovanni Del Galdo, Giovanni Del Galdo, Jörn Thielecke

2022

Abstract

In recent years, crop monitoring and plant phenotyping are becoming increasingly important tools to improve farming efficiency and crop quality. In the field of smart farming, the combination of high-precision cameras and Visual Simultaneous Localization And Mapping (SLAM) algorithms can automate the entire process from planting to picking. In this work, we systematically analyze errors on trajectory accuracy of a watermelon field created in a virtual environment for the application of smart farming, and discuss the quality of the 3D mapping effects from an optical point of view. By using an ad-hoc synthetic data set we discuss and compare the influencing factors with respect to performance and drawbacks of current state-of-the-art system architectures. We summarize the contributions of our work as follows: (1) We extend ORB-SLAM2 with Semantic Input which we name SI-VSLAM in the following. (2) We evaluate the proposed system using real and synthetic data sets with modelled sensor non-idealities. (3) We provide an extensive analysis of the error behaviours on a virtual watermelon field which can be both static and dynamic as an example for a real use case of the system.

Paper Citation

in Harvard Style

Kalisz A., Sun M., Gedschold J., Wegner T., Galdo G. and Thielecke J. (2022). Error Evaluation of Semantic VSLAM Algorithms for Smart Farming. In Proceedings of the 17th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2022) - Volume 5: VISAPP; ISBN 978-989-758-555-5, SciTePress, pages 801-810. DOI: 10.5220/0010820500003124

in Bibtex Style

@conference{visapp22,
author={Adam Kalisz and Mingjun Sun and Jonas Gedschold and Tim Erich Wegner and Giovanni Del Galdo and Jörn Thielecke},
title={Error Evaluation of Semantic VSLAM Algorithms for Smart Farming},
booktitle={Proceedings of the 17th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2022) - Volume 5: VISAPP},
year={2022},
pages={801-810},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010820500003124},
isbn={978-989-758-555-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2022) - Volume 5: VISAPP
TI - Error Evaluation of Semantic VSLAM Algorithms for Smart Farming
SN - 978-989-758-555-5
AU - Kalisz A.
AU - Sun M.
AU - Gedschold J.
AU - Wegner T.
AU - Galdo G.
AU - Thielecke J.
PY - 2022
SP - 801
EP - 810
DO - 10.5220/0010820500003124
PB - SciTePress