SeeTree -- A modular, open-source system for tree detection and orchard localization
This addresses the lack of off-the-shelf solutions for growers in precision orchard management, though it is incremental as it builds on prior vision-based work.
The authors tackled the problem of accurate orchard localization for precision management by developing SeeTree, a modular open-source system for tree detection and localization, which achieved 99% convergence to correct location in field trials.
Accurate localization is an important functional requirement for precision orchard management. However, there are few off-the-shelf commercial solutions available to growers. In this paper, we present SeeTree, a modular, open source embedded system for tree trunk detection and orchard localization that is deployable on any vehicle. Building on our prior work on vision-based in-row localization using particle filters, SeeTree includes several new capabilities. First, it provides capacity for full orchard localization including out-of-row headland turning. Second, it includes the flexibility to integrate either visual, GNSS, or wheel odometry in the motion model. During field experiments in a commercial orchard, the system converged to the correct location 99% of the time over 800 trials, even when starting with large uncertainty in the initial particle locations. When turning out of row, the system correctly tracked 99% of the turns (860 trials representing 43 unique row changes). To help support adoption and future research and development, we make our dataset, design files, and source code freely available to the community.