Stereo Vision System for Crop Height Measurement Using a Monocular Camera-Equipped Drone
- Resource Type
- Conference
- Authors
- Nakagawa, Ryo; Yamaguchi, Yoshiki; Nobuhara, Hajime; Firmansyah, Iman; Sheng, Kai
- Source
- 2024 IEEE International Conference on Consumer Electronics (ICCE) Consumer Electronics (ICCE), 2024 IEEE International Conference on. :1-2 Jan, 2024
- Subject
- Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineered Materials, Dielectrics and Plasmas
Engineering Profession
General Topics for Engineers
Nuclear Engineering
Photonics and Electrooptics
Power, Energy and Industry Applications
Signal Processing and Analysis
Transportation
Crops
Streaming media
Height measurement
Stereo vision
Field programmable gate arrays
Streams
Drones
FPGA
low-latency
stream processing
drone
hardware direct implementation
- Language
- ISSN
- 2158-4001
This research presents a real-time crop height measurement system using monocular camera-equipped drones. The study defines the maximum disparity and frame rate prerequisites for stereo vision estimation for a flying drone. We achieve this by implementing image resizing and Semi-Global Matching using the Vitis Vision Library provided by AMD-Xilinx through high-level synthesis. Our custom-designed circuit was implemented on AMD-Xilinx’s SoC, an XCK26-SFVC784-2LV-C. Our experimentation with a 50k-pixel image measured the average computation latency for crop height measurement at 99.810 milliseconds. This latency comfortably meets our targeted frame rate of 10 frames per second.