用无人机+视觉算法自动数水果，精准高效
Vision-based automatic fruit counting with UAV
- 融合RGB与深度图像，用传统图像处理检测果实
- 仿真测试500次平均得分87.27，竞赛中获84.83分第6名
- 适合农业智能监测、无人机应用开发人员参考
无人飞行器（UAV）在智慧农业中的应用日益普及，这从近期科研成果及各类相关竞赛中可见一斑。本文提出一种基于UAV的自动水果计数系统。通过处理RGB相机和深度传感器的视频流，采用经典图像操作实现果实检测。系统还支持飞行轨迹规划与执行，兼顾飞行时间与距离最小化。在仿真环境中测试500次，平均得分为87.27/100；在ICUAS 2024会议举办的无人机竞赛中，平均得分为84.83/100，23支队伍中排名第6，成功晋级决赛。
原文摘要 · Abstract (English)
The use of unmanned aerial vehicles (UAVs) for smart agriculture is becoming increasingly popular. This is evidenced by recent scientific works, as well as the various competitions organised on this topic. Therefore, in this work we present a system for automatic fruit counting using UAVs. To detect them, our solution uses a vision algorithm that processes streams from an RGB camera and a depth sensor using classical image operations. Our system also allows the planning and execution of flight trajectories, taking into account the minimisation of flight time and distance covered. We tested the proposed solution in simulation and obtained an average score of 87.27/100 points from a total of 500 missions. We also submitted it to the UAV Competition organised as part of the ICUAS 2024 conference, where we achieved an average score of 84.83/100 points, placing 6th in a field of 23 teams and advancing to the finals.
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