Automated Leaf-Level Inspection of Crops Combining UAV and UGV Robots
Authors:
F. Esser, E. Marks, F. Magistri, J. Weyler, S. Bultmann, T. Zaenker, A. Ahmadi, H. Kuhlmann, C. McCool, M. Popović, C. Stachniss, S. Behnke, M. Bennewitz, L. KlingbeilType:
Conference ProceedingPublished in:
European Robotics Forum (ERF)Year:
2025Links:
BibTex String
@inproceedings{esser25erf,
title={Automated Leaf-Level Inspection of Crops Combining {UAV} and {UGV} Robots},
author={Esser, F. and Marks, E. and Magistri, F. and Weyler, J. and Bultmann, S. and Zaenker, T. and Ahmadi, A. and Schreiber, M. and Kuhlmann, H. and McCool, C. and Popovic, M. and Stachniss, C. and Behnke, S. and Bennewitz, M. and Klingbeil, L.},
booktitle={Proc. of the European Robotics Forum (ERF)},
year={2025},
organization={Springer}
}
Abstract:
Using areal and ground-based robotics systems is one possible component on the way to more sustainable crop production. In this work, we show, how a combination of a UAV and ground robotcan be used to automate the process of single plant and even leaf-levelinspection of crops in the field, as the farmer usually does manually byphysically going to the plants. The work integrates UAV-based plant and weed mapping, UGV path planning and execution, viewpoint planning and control of a robot-mounted arm with a multi-camera head, as well as high-resolution 3D reconstruction.