1. 3D GRAPHICAL MODELING OF VEGETABLE SEEDLINGS BASED ON A STEREO MACHINE VISION SYSTEM Ta-Te Lin, Wen-Chi Liao, Chung-Fan Chien Department of Bio-Industrial Mechatronics Engineering, National Taiwan University, Taipei, Taiwan, ROC

2. INTRODUCTION Plant models Plant models Visualization of plant models Visualization of plant models Digitizing methods Digitizing methods L-system for plant structure modeling L-system for plant structure modeling Model-based growth measurement Model-based growth measurement

3. MATERIALS & METHODS Stereo Machine Vision System Stereo Machine Vision System L-System Formulation L-System Formulation Graphical Modules Graphical Modules Test of Method Accuracy Test of Method Accuracy Model-based growth measurement Model-based growth measurement

4. FLOW CHART 3D GRAPHICAL SIMULATION Initialization and Calibration of the System Start Stereo Image Acquisition and Image Registration Image Segmentation Automatic Search for Positions and Orientation of Leaves Manual Correction and Supplement of Searched Results Conversion of Parameters and Creation of L-System Strings Computer Graphical Simulation and Calculation of Plant Features End

5. Rotary stage Image processing board RS-232 interface STEREO MACHINE VISION SYSTEM Rotary stage Steppermotorcontroller Color CCD camera

6. BASIC PLANT MODULES 3D GRAPHICAL SIMULATION ROOT: R(X r, Y r, Z r ) INTERNODE: I(A ix, A iy, L i, D i ) LEAF: L(A px, A py, L p, A lx, A ly, W l, L l, N l )

7. BASIC PLANT MODULES 3D GRAPHICAL SIMULATION ROOT: R(X r, Y r, Z r )

8. BASIC PLANT MODULES 3D GRAPHICAL SIMULATION INTERNODE: I(A ix, A iy, L i, D i )

9. BASIC PLANT MODULES 3D GRAPHICAL SIMULATION INTERNODE: I(A ix, A iy, L i, D i )

10. BASIC PLANT MODULES 3D GRAPHICAL SIMULATION INTERNODE: I(A ix, A iy, L i, D i )

11. BASIC PLANT MODULES 3D GRAPHICAL SIMULATION INTERNODE: I(A ix, A iy, L i, D i )

12. BASIC PLANT MODULES 3D GRAPHICAL SIMULATION LEAF: L(A px, A py, L p, A lx, A ly, W l, L l, N l )

13. BASIC PLANT MODULES 3D GRAPHICAL SIMULATION LEAF: L(A px, A py, L p, A lx, A ly, W l, L l, N l )

14. BASIC PLANT MODULES 3D GRAPHICAL SIMULATION LEAF: L(A px, A py, L p, A lx, A ly, W l, L l, N l )

15. BASIC PLANT MODULES 3D GRAPHICAL SIMULATION LEAF: L(A px, A py, L p, A lx, A ly, W l, L l, N l )

16. BASIC PLANT MODULES 3D GRAPHICAL SIMULATION LEAF: L(A px, A py, L p, A lx, A ly, W l, L l, N l )

17. BASIC PLANT MODULES 3D GRAPHICAL SIMULATION LEAF: L(A px, A py, L p, A lx, A ly, W l, L l, N l )

18. BASIC PLANT MODULES 3D GRAPHICAL SIMULATION LEAF: L(A px, A py, L p, A lx, A ly, W l, L l, N l )

19. BASIC PLANT MODULES 3D GRAPHICAL SIMULATION LEAF: L(A px, A py, L p, A lx, A ly, W l, L l, N l )

20. L-SYSTEM R(260,70,204) I(-11.7,323.1,49.0,3) L(-40.9,284.0,0,50.3,-17.2,53.1,53.1,1) L(-50.5,74.0,0,75.4,-9.7,48.3,48.3,2) L(-38.7,355.2,0,76.9,-35.7,112.2,112.2,3) L(-20.5,194.0,0,70.4,-28.8,107.5,107.5,4) 3D GRAPHICAL SIMULATION

21. L-SYSTEM STRINGS 3D GRAPHICAL SIMULATION Digitizing Process Conversion and Calculation of L-system Parameters L-system Strings Translation Calculation of Dimension and Spatial Coordinates of Plant Modules Interpretation Creation of Plant Modules and Graphical Simulation

22. 3D GRAPHICAL SIMULATION MAKING TEXTURAL IMAGE TEMPLATE

23. 3D GRAPHICAL SIMULATION LEAF MODULE Elliptical Surface Approach Bezier Surface Approach

24. 3D GRAPHICAL SIMULATION Top View Side View Real Image Graphical Simulation PEPPER SEEDLING

25. 3D GRAPHICAL SIMULATION OTHER PLANTS

26. 3D GRAPHICAL SIMULATION OTHER PLANTS

27. MODEL-BASED MEASUREMENT Point, Length, Angle, Texture L-system Semi-Automatic Measurement Automatic Measured 3D Computer Graphics Seedling Features By Model Computation

28. n Stem length n Height n Span n Total leaf area and individual leaf area n Top fresh weight (need calibration) n Top dry weight (need calibration) n Number of leaves n Leaf area index, LAI n Leaf length n Leaf width SEEDLING FEATURES MODEL-BASED MEASUREMENT

29. Comparisons of predicted plant height with manually measured plant height. Pepper

30. Comparisons of predicted plant height with manually measured plant height for four different types of vegetable seedlings. PepperCollard Cabbage Chinese cabbage

31. Comparisons of predicted plant total leaf area with manually measured plant total leaf area for four different types of vegetable seedlings. PepperCollard Cabbage Chinese cabbage

32. Comparisons of predicted and manually measured plant features. Slope aIntercept bR2R2 RMSERRMSE First internode0.980.430.970.61 mm2.4% Plant height0.971.20.981.65 mm4.3% Leaf length1.06-4.20.873.96 mm15.6% Leaf width1.010.320.921.49 mm12.9% Individual leaf area1.030.050.940.41 cm 2 17.0% Total leaf area1.05-0.050.951.42 cm 2 9.8% Petiole length0.962.70.843.61 mm57.2% Pepper Slope aIntercept bR2R2 RMSERRMSE First internode0.901.20.940.91 mm8.9% Plant height1.06-1.430.961.73 mm10.8% Leaf length0.850.950.914.84 mm21.1% Leaf width1.12-2.460.922.58 mm16.1% Individual leaf area0.99-0.080.960.72 cm 2 29.5% Total leaf area0.98-0.140.981.13 cm 2 10.2% Petiole length0.992.70.934.39 mm27.1% Collard

33. Comparisons of predicted and manually measured plant features. Cabbage Chinese cabbage Slope aIntercept bR2R2 RMSERRMSE First internode1.04-0.470.990.46 mm4.1% Plant height0.960.750.961.58 mm7.6% Leaf length0.93-0.770.953.91 mm16.6% Leaf width0.99-0.790.892.98 mm15.5% Individual leaf area0.98-0.180.940.95 cm 2 23.0% Total leaf area1.020.620.981.55 cm 2 15.6% Petiole length0.973.200.924.78 mm30.7% Slope aIntercept bR2R2 RMSERRMSE First internode0.980.200.980.42 mm4.6% Plant height0.990.640.981.26 mm8.1% Leaf length0.890.900.944.17 mm18.2% Leaf width1.16-4.000.853.52 mm21.4% Individual leaf area1.01-2.200.921.03 cm 2 30.6% Total leaf area0.851.960.893.14 cm 2 12.7% Petiole length0.953.800.875.47 mm36.3%

34. Growth curves of total leaf area for a batch of pepper seedlings showing the variability within the batch.

35. Growth curves of total leaf area for pepper seedlings cultured in pots of different sizes.

36. Average growth curves of leaf area for individual leaves of pepper seedlings cultured in pots of 180 ml volume.

37. Average growth curves of leaf area for the 1st leaf of pepper seedlings cultured in pots of different sizes.

38. CONCLUSIONS n A graphical model based on L-system was developed to represent vegetable seedling structures. n The structural model was implemented for efficient graphical simulation of various vegetable seedlings. n The basic geometric and textural information for vegetable seedlings were successfully digitized by a stereo machine vision system.

39. CONCLUSIONS n Measurements of four different seedlings were performed to assess the methodology. The system was successfully applied in measuring growth curves of pepper seedlings under different culture conditions. n The model-based measurement of plant features offers additional information than what conventional methods can provide.

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