Autonomous Mobile Robot for Apple Plant Disease Detection based on CNN and Multi-Spectral Vision System

摘要

This paper presents an autonomous system for apple orchard inspection and early stage disease detection. Various sensors including hyperspectral, multispectral and visible range scanners are used for disease detection. For localization and obstacle detection 2D LiDARs and RTK GNSS receivers are used. The proposed system allows to minimize the use of pesticides and increase harvests. The detection approach is based on the use of neural networks for both plant segmentation and disease detection.