Development of a machine vision system for a real time precision sprayer

Abstract

In the context of precision agriculture, we have developed a machine vision system for a real timeprecision sprayer. From a monochrome CCD camera located in front of the tractor, the discriminationbetween crop and weeds is obtained with an image processing based on spatial information using a Gaborfilter. This method allows to detect the periodic signals from the non periodic one and it enables to enhancethe crop rows whereas weeds have patchy distribution. Thus, weed patches were clearly identified by ablob-coloring method. Finally, we use a pinhole model to transform the weed patch coordinates image inworld coordinates in order to activate the right electro-pneumatic valve of the sprayer at the right moment.