1. INTEGRATION OF A SPATIAL MAPPING SYSTEM USING GPS AND STEREO MACHINE VISION Ta-Te Lin, Wei-Jung Chen, Fu-Ming Lu Department of Bio-Industrial Mechatronics Engineering, National Taiwan University, Taipei, Taiwan, ROC

2. INTRODUCTION Precision Agriculture Precision Agriculture GPS and GIS GPS and GIS Spatial Mapping Methods Spatial Mapping Methods Stereo Machine Vision Stereo Machine Vision

3. INTRODUCTION Direct Measurement Direct Measurement Aerial Photography Aerial Photography Satellite and Airborne Scanning Satellite and Airborne Scanning Vehicular-based Position Detection Vehicular-based Position Detection Field-walking Field-walking Etc. Etc. SPATIAL MAPPING METHODS

4. OBJECTIVES To develop concepts and integrate a spatial mapping system that allows for sensor fusion and establishment of basic GIS for farm management. To develop concepts and integrate a spatial mapping system that allows for sensor fusion and establishment of basic GIS for farm management. To implement the system with the capability to visualize, retrieve and store field data. To implement the system with the capability to visualize, retrieve and store field data. To test the performance of the system and its components. To test the performance of the system and its components.

5. MATERIALS & METHODS System Description System Description GPS and Electronic Compass GPS and Electronic Compass Coordinate Transformation Coordinate Transformation Stereo Machine Vision Stereo Machine Vision System Integration System Integration

6. GPS Electronic Compass Stereo Machine Vision Host Computer Positioning Database Image Database Base Map Map Layer 1 User Interface Map Layer 2 Position Orientation Image SCHEMATIC DIAGRAM OF THE SYSTEM SYSTEM DESCRIPTION

7. SYSTEM COMPONENTS SYSTEM DESCRIPTION Trimble AgGPS 132 Trimble AgGPS 132 TCM2-20 Electronic Compass TCM2-20 Electronic Compass Dual Cameras Dual Cameras Matrox 4 Sight-II and Meteor II Matrox 4 Sight-II and Meteor II Power Supply Power Supply MIL Image Processing Library MIL Image Processing Library MapObjects (ESRI) Library MapObjects (ESRI) Library

8. TRIMBLE AgGPS 132 GPS AND ELECTRONIC COMPASS   NMEA-0183 string   RS-232 interface   DGPS capability

9. TCM2-20 ELECTRONIC COMPASS GPS AND ELECTRONIC COMPASS   magneto-inductive magnetic sensor   RS-232 interface   Heading accuracy  0.5    Tilt accuracy  0.2 

10. COORDINATE TRANSFORMATION Coordinate Conversion WGS84 Spheroid Coordinates Transverse Mercator projections WGS84 Cartesian Coordinates TWD67Cartesian Coordinates TWD67 Spheroid Coordinates GPS NMEA-0183 string MapProjection

11. STEREO MACHINE VISION BASICS STEREO MACHINE VISION Z P(X,Z) X B XlXl XrXr f Z Imaging plane

12. STEREO MACHINE VISION SYSTEM STEREO MACHINE VISION   Two JAI MCL-1500 Camera   640x480 Resolution   NTSC Signal   Focal Length: 5.8~58mm

13. STEREO MACHINE VISION SYSTEM STEREO MACHINE VISION   Matrox 4 Sight-II   Celeron 566Mhz, 64MB RAM, 6GB HD, Windows NT 4.0   Matrox Meteor II Image Processing Board

14. SOFTWARE FUNCTIONAL MODULES SYSTEM INTEGRATION Data Acquisition Module GPS Dual Cameras Electronic Compass RS-232 I/O NMEA- 0183 String Parsing MIL Imaging Processing Library Mapping Module Image Processing Module Database Management Module Coordinate Transformation MapObjects Pattern Matching Range Estimation User Interface Positioning database Image database

15. HARDWARE INTEGRATION SYSTEM INTEGRATION

16. RESULTS Performance of the GPS Performance of the GPS Distance Measurement Distance Measurement Overall System Performance Overall System Performance Spatial Mapping and Retrieval Spatial Mapping and Retrieval

17. PERFORMANCE OF THE GPS Error in sampling point location using AgGPS 132 without differential correction

18. PERFORMANCE OF THE GPS Error in sampling point location using AgGPS 132 with differential correction

19. DISTANCE MEASUREMENT Error of distance estimation using the stereo machine vision system with f = 5.8 mm and B = 230 mm

20. DISTANCE MEASUREMENT Error of distance estimation using the stereo machine vision system with f = 58.0 mm and B = 230 mm

21. DISTANCE MEASUREMENT Error of distance estimation using the stereo machine vision system with f = 5.8 mm and B = 430 mm

22. DISTANCE MEASUREMENT Error of distance estimation using the stereo machine vision system with f = 58.0 mm and B = 430 mm

23. DISTANCE MEASUREMENT Comparisons of errors of distance estimation f=5.8, B=230mmf=58.0, B=230mm f=5.8, B=430mmf=58.0, B=430mm

24. OVERALL SYSTEM PERFORMANCE Error of distance estimation of the integrated spatial mapping system (f = 5.8 mm, B=230mm).

25. OVERALL SYSTEM PERFORMANCE Error of distance estimation of the integrated spatial mapping system (f = 5.8 mm, B=230mm).

26. OVERALL SYSTEM PERFORMANCE Comparison with the Aerial Mapping Method

27. SPATIAL MAPPING AND RETRIEVAL The user interface of the spatial mapping system

28. SPATIAL MAPPING AND RETRIEVAL The user interface of the spatial mapping system

29. SPATIAL MAPPING AND RETRIEVAL Retrieved image and indication of its scope on the map

30. SPATIAL MAPPING AND RETRIEVAL Relocating field objects and creating new map layer

31. SPATIAL MAPPING AND RETRIEVAL Relocating field objects and creating new map layer

32. SPATIAL MAPPING AND RETRIEVAL Base field map of TARI experimental paddy field

33. SPATIAL MAPPING AND RETRIEVAL Map layer showing scopes of saved image pairs

34. CONCLUSIONS n An integrated spatial mapping system combining GPS, electronic compass, and stereo machine vision is proposed and tested. n In the range of 100 m, the relative error of the whole spatial mapping system was 6.8  2.6%. n The integrated spatial mapping system provides a method to create digital maps incorporating image database. n The capability of retrieval and addition of range information from image database allows for dynamic and site-specific management of agricultural sectors.

35. FUTURE WORKS n System Accuracy n System Mobility n Database with Panoramic Images n 3-Dimensional Reconstruction

36. THANK YOU 謝 謝 謝 謝