Evaluation of a Laser Scanning Sensor in Detection of Complex-Shaped Targets for Variable-Rate Sprayer Development

Abstract

<abstract> Sensors that can accurately measure canopy structures are prerequisites for development of advanced variable-rate sprayers. A 270° radial range laser sensor was evaluated for its accuracy in measuring the dimensions of target surfaces with complex shapes and sizes. An algorithm for data acquisition and three-dimensional (3-D) canopy image construction were designed and processed with an embedded computer. Test targets included three beach balls at three heights, a rectangular box, a cylinder, two artificial trees, and three field-grown ornamental trees. Other variables included 2, 3, 4, and 5 m detection distances and sensor travel speeds of 3.2, 4.8, 6.4, and 8.0 km h^-1. The laser sensor measurements of the test targets were statistically similar with the actual measurements. The average root mean square error (RMSE) and coefficient of variation (CV) varied slightly with detection distance and travel speed. Among all the dimension measurements in the ranges of 0.58 to 2.54 m in the X direction, 0.58 to 2.54 m in the Y direction, and 0.58 to 2.94 m in the Z direction, the highest average RMSE of 68 mm occurred in the Z direction and the highest average CV of 8.6% occurred in the Y direction. Similarity of paired images from the laser sensor and a camera was greater than 0.85 for all targets. These tests confirmed the capability of the laser sensor and the algorithm to accurately measure complex-shaped targets, offering potential for integration of the sensor and algorithm into sprayers that would make real-time adjustment of spray outputs to match plant structures and travel speeds.