Deep learning based Real-time GPU-accelerated tracking and counting of cotton bolls under field conditions using a moving camera
| dc.creator | Fue, Kadeghe G. | |
| dc.creator | Porter, Wesley | |
| dc.creator | Rains, Glen | |
| dc.date | 2022-06-14T12:41:36Z | |
| dc.date | 2022-06-14T12:41:36Z | |
| dc.date | 2018-08 | |
| dc.date.accessioned | 2022-10-25T08:51:26Z | |
| dc.date.available | 2022-10-25T08:51:26Z | |
| dc.description | Conference Paper | |
| dc.description | Robotic harvesting involves navigation and environmental perception as first operations before harvesting of the bolls can commence. Navigation is the distance required for a harvester’s arm to reach the cotton boll while perception is the position of the boll relative to surrounding environment. These two operations give a 3D position of the cotton boll for picking and can only be achieved by detection and tracking of the cotton bolls in real-time. It means detection, tracking and counting of cotton bolls using a moving camera allows the robotic machine to harvest easily. GPU-accelerated deep neural networks were used to train the convolution networks for detection of cotton bolls. It was achieved by using pretrained tiny yolo weights and DarkFlow, a framework which translates YOLOv2 darknet neural networks to TensorFlow. A method to connect tracklets using vectors that are predicted using Lucas-Kanade algorithm and optimized using robust L-estimators and homography transformation is proposed. The system was tested in defoliated cotton plants during the spring of 2018. Using three video treatments, the counting performance accuracy was around 93% with standard deviation 6%. The system average processing speed was 21 fps in desktop computer and 3.9 fps in embedded system. Detection of the system achieved an accuracy and sensitivity of 93% while precision was 99.9% and F1 score was 1. The Tukey’s test showed that the system accuracy and sensitivity was the same when the plants were rearranged. This performance is crucial for real-time robot decisions that also measure yield while harvesting. | |
| dc.format | application/pdf | |
| dc.identifier | https://www.suaire.sua.ac.tz/handle/123456789/4260Deep Learning based Real-time GPU-accelerated Tracking and Counting of Cotton Bolls under Field Conditions using | |
| dc.identifier.uri | http://hdl.handle.net/123456789/91394 | |
| dc.language | en | |
| dc.publisher | 2018 ASABE Annual International Meeting | |
| dc.relation | ;Paper Number: 1800831 | |
| dc.subject | Boll counting | |
| dc.subject | Cotton Bolls | |
| dc.subject | Cotton counting | |
| dc.subject | Cotton harvesting | |
| dc.subject | DarkFlow | |
| dc.subject | Darknet | |
| dc.subject | Deep Learning | |
| dc.subject | GPU | |
| dc.subject | machine vision | |
| dc.subject | TensorFlow | |
| dc.subject | YOLO | |
| dc.title | Deep learning based Real-time GPU-accelerated tracking and counting of cotton bolls under field conditions using a moving camera | |
| dc.type | Conferencce Proceedings |