Designed and developed a robotic platforms for plant phenotyping. The architecture consists of two robotic platforms, an autonomous ground vehicle (AGV), and a mobile observation tower. The AGV collects data from individual plants, while the observation tower oversees the entire field, detecting specific plants for the AGV to inspect. Vision guided robotics in the field, 3D reconstruction of plants in real-life environment, and autonomous data collection using both systems are goals of the project. Robot Operating System (ROS) has been used to control robots and to collect data from plants. Currently, I am working on:
3D reconstruction of plants in the field
Plant segmentation and row detection
Robot navigation in the field using stereo vision
Movement of plants during data collection, harsh environmental conditions, dynamic nature of the field during growing period are difficulties in my research.