Crops Diagnosis Using Digital Image Processing and Precision Agriculture Technologies*

Transcription

1 Ing Cuc, Vol. 11, N 1, pp 63-71, Jun, 2015 Crops Diagnosis Usg Digial Imag ocssg and cision Agriculur Tchnologis* Diagnósico d Culivos Uilizando ocsamino Digial d Imágns y Tcnologías d Agriculura d cisión Rsarch Aricl - Rcpion Da: July 22, Accpanc Da: March 2, 2015 Andrés Frnando Jiménz Lópz Masr of Scinc, Univrsidad d los Llanos. Villavicncio (Colombia). jimnz@unillanos.du.co Juan Mauricio Salamanca PhD Engrg, Univrsidad Pdagógica y Tcnológica d Colombia. Sogamoso (Colombia). juan.salamanca@upc.du.co Mlani Jisll Quiroz Mda Elcronic Engr, Univrsidad Pdagógica y Tcnológica d Colombia. Sogamoso (Colombia). mlanijisll@gmail.com Oscar Eduardo Acvdo Pérz Elcronic Engr, Univrsidad Pdagógica y Tcnológica d Colombia. Sogamoso (Colombia).oscarduacvdo@gmail.com Absrac-- This papr prsns h rsuls of h dsign and implmnaion of a sysm for capurg and procssg imags of agriculural crops. Th dsign cluds h dvlopmn of sofwar and hardwar for imag acquisiion usg a modl hlicopr quippd wih vido camras wih a rsoluion of 640x480 pixls. A sofwar applicaion was dvlopd for prformg diffrnial corrcion of rrors gnrad by h Global Posiiong Sysm (GPS) and for allowg h moniorg of h posiion of h hlicopr ral im. A lmry sysm consisg of an rial masurmn uni, a magnomr, a prssur and aliud snsor, on GPS and wo phoo camras wr dvlopd. Fally, imag procssg sofwar was dvlopd o drm som vgaion dxs and gnraion of hr-dimnsional maps of crops. Rsumn-- Es arículo prsna los rsulados dl disño implmnación d un sisma d capura y procsamino d imágns d culivos agrícolas. El disño cluy l dsarrollo d sofwar y hardwar para la adquisición d imágns mdian un hlicópro d aromodlismo quipado con cámaras d rsolución d 640x480 pixls. S dsarrolló una aplicación n sofwar para ralizar la corrcción difrncial d rrors gnrados por l Sisma d Posicionamino Global (GPS por sus siglas n glés), prmiindo ambién l monioro d la posición dl hlicópro n impo ral. S dsarrolló un sisma d lmría compuso d una unidad d mdida rcial, un magnómro, un snsor d prsión y aliud, un GPS y dos cámaras foográficas. Falmn s laboró un sofwar d procsamino d imágns para drmar algunos índics d vgación y gnración d mapas ridimnsionals d los culivos. Ky Words Agriculur, Elcrodynamics, Engrg, Ligh, Opics, Wavs, Vgaion. Palabras clavs Agriculura, Elcrodámica, Ingniría, Luz, Ópica, Ondas, Vgación. To ci his papr: A.F. Jiménz Lópz, J. M. Salamanca, M. J. Quiroz Mda and O. E. Acvdo Pérz. Diagnósico d Culivos Uilizando ocsamino Digial d Imágns y Tcnologías d Agriculura d cisión, INGE CUC, vol. 11, no. 1, pp , * Rsarch papr drivg from h rsarch ojc Sisma d Adquisición y Análisis d formación mulispcral d snsors rmoos mdian un Vhículo Aéro no Tripulado, para aplicacions d Agriculura d cisión. Fundd by Univrsidad d los Llanos. Sarg da: Ocobr Endg da: Spmbr And from h rsarch ojc Disño Implmnación d un Sisma d Snsado Mulispcral rmoo para aplicacions d Agriculura d cisión. Fundd by Univrsidad Pdagógica y Tcnológica d Colombia. Sarg da: April Endg da: April

2 Crops Diagnosis Usg Digial Imag ocssg and cision AgriCUlur Tchnologis I. Inroducion cision Agriculur (PA) is an grad sysm basd on crop formaion, dsignd o cras producion fficincy, produciviy and profis, and urn, rduc impacs on h prsrvaion of lif and h nvironmn. PA diffrs from convnional agriculur on h fac ha i allows acion on farmg managmn, allowg h farmr o hav a nw crop managmn prspciv wih which o mak mor raional dcisions managg hir crops. Usually h fild of PA, salli imags ar usd for analysis of land, alhough h salli can dc formaion from a wid ara, h spaial rsoluion of h salli imag low-cos producs is: 1000 m, 500 m or 250 m for MODIS produc daa, and 20 m for Landsa and ASTER producs, among ohrs. Ths rsoluions mak i difficul o drm h characrisics for sgmn an imag of h soil and crops bcaus of h dail of h formaion ha can b akn [1]. Th daa acquird by hs producs is no suiabl for dcg h sa of crops small bachs such as small land holdgs or micro-farms, or whn hr is cloud covr, du o rflcanc of visibl radiaion h clouds. In addiion, ohr salli producs wih highr spaial rsoluion IKONOS (4 mrs) and QuickBird (1 mr) ar oo xpnsiv for ordary usrs [2]. Anohr disadvanag of h mhodology o analyz covrag by salli imagry is h im i aks o acquir a salli imag of h sam scor for h spaio-mporal analysis of phnological variabls crops, makg i impossibl o dc changs a h righ im. Many applicaions us daa from rmo snsg or mobil plaforms for moniorg and conrollg naural phnological variabls skg o improv h producion and nvironmnal scor, hrfor, his papr prsns h dvlopmn of a usful ool for drmg phnology paramrs of agriculural crops hrough h acquisiion and procssg of imags ha would adqualy solv h difficuly of obag fild formaion wih spaial and mporal adqua rsoluions. A. cision Agriculur (PA) Iniially PA was usd for larg racs of land; is dvlopmn aros from h growg nvironmnal concrns, h nd o giv propr us o soils and produc qualiy food a susaabl and rspcful way owards h nvironmn. PA is a susaabl alrnaiv sysm and a usful managmn sragy producion procsss; i is an agronomic managmn concp of farmg plos covrg all chniqus, mhods of culivaion and fild managmn. I corporas Informaion chnology wih spcializd mhods and ools for daa collcion and is sudy basd on spaial and mporal variabls. This is don hrough mulipl sourcs, givn h variy h ara (Global Posiiong Sysms -GPS-, srumnaion sysms and daa acquisiion, lcronics, microlcronics, wirlss chnology, snsors, conrollrs and quipmn, among ohrs), wih h purpos o collc, colla, analyz and char h formaion of wha happns or may happn soils or crops, and so dvlop sragis o addrss h consras of h plac [3], [4]. B. Tools usd by cision Agriculur Along wih biochnology, PA is on of h mos imporan chnological changs xprincd by agriculur rcn yars [3], [4]. Th ools usd by PA ar ndd o provid highr qualiy, conrol, daa loggg and highr prcision whn i coms o dfg diffrn managmn alrnaivs or makg fuur dcisions, ordr o hlp mak agriculur mor profiabl hrough cras yild valu (quaniy or qualiy) and rducion h numbr of pus. Informaion chnology provids ools for obag usful daa managg soils and crops on h variabiliy prsn wih an ara by spcifyg h managmn of producion procsss. Among ohrs, h ma chnological ools usd PA clud wahr saions, rmo snsg, Gographic Informaion Sysms (GIS), prformanc moniors, Global Navigaion Salli Sysms (GNSS), Global Posiiong Sysms (GPS) and daa bass. Ths chnologis ar usd for vrifyg diagnosic procsss (mappg of covrag, soil, irrigaion ls, roads, boundaris, dimnsions, frasrucur, c.); srnghng works or projcs h shor, mdium and long rm (sallg an irrigaion sysm l, sablishg a nw plo or a rsrvoir); mappg of growh, dvlopmn, and crop yildg; for h planng and xcuion of asks rlad o h applicaion of pus, sc hy hlp spcify which sis, wha amouns and whn hos pus can b usd. C. Global Posiiong Sysm -GPS Som auhors lik Sugiura, Gonzalz and Pñafl [2], [4], [5], hav undrakn h ask of dfg h Global Posiiong Sysm, known by is acronym: GPS. I bgan as a sysm of salli radio navigaion oprad by h Unid Sas Dparmn of Dfns h 70s, for h launch of gosaionary sallis around h arh for h purpos of guidg missils from mobil plaforms and locag miliary objcivs accuraly and fas nmy counris. Howvr, nowadays i has fosrd h mrgnc of nw sourcs of dvlopmn as AP. Th proocol usd by h GPS sysm is NMEA, dvlopd by h Naional Mar Elcronics Associaion o communica wih a paricular program 64

3 Ing Cuc, Vol. 11, N 1, pp 63-71, Jun, 2015 ha is salld on a compur or on a mobil dvic (PDA, mobil phon, c.). Th diffrnial posiiong occurs whn wo or mor GPS srumns ar volvd wih h aim o lima common posiiong misaks (slciv availabiliy) and is don by calculag coorda crmns from rfrnc quipmn o a mobil on. D. Unmannd Airborn Sysms Th us of airborn plaforms civilian applicaions hdrs h xisnc of a consnsus on is dfiion; hrfor, hr xiss a variy of nams: RPA (Rmoly Pilod Aircraf), or UA (Unmannd Aircraf or Unhabid Aircraf) h pas, and UAV (Unmannd Arial Vhicl), or UAS (Unmannd Aircraf Sysm) nowadays. Ths rms rfr o h absnc of crw on h vhicl which is no ncssarily a synonym of auonomy. Unmannd arial vhicls allow auonomous or smi-auonomous dvlopmn of diffrn yps of missions ha rang from filds of dfns and scuriy o agriculur and nvironmn [6]. E. Rmo Snsg Sysms Rmo snsg is h masurmn or acquisiion of formaion abou an objc or phnomnon by a am ha is no conac wih ha objc; agriculur, hs sysms ar basd on h racion of lcromagnic radiaion wih h soil or h plan whr h radiaion rflcd or mid by h crops or h characrisic spcral signaur is masurd [7]. Rmo snsg applicaions PA ar classifid by h yp of plaform usd for h snsor: dircly from h ground lvl or by mans of dvics ha ar boardd on aircraf, or salli [8]. Arial imags provid a walh of formaion a a rasonabl cos and is analysis allows modlg various agronomic paramrs ha drm h producion and h llign applicaion of hrbicids and frilizrs o diffrnia wds from crops and hus gnra yild maps for managmn durg and afr h growg sason. This chnology has counlss applicaions various filds, from scinific and cological o conomic, urban and social sudis [9]. F. Crop Diagnosis ar highly rflciv h nar frard (NIR 700 o 1300 nm) aras wih laf dnsiy and ffcs of h r canopy srucur [10]. Bsids rflcanc, ransmianc, absorpion, lavs of plans hav hrmal mission (fluorscnc nrgy) wih which war srss crops can b dfd, sc radiaion mission is h mpraur rspons of h laf and canopy, which varis wih h air mpraur and h ra of vaporanspiraion. Vgaion dxs such as NDVI (Normalizd Diffrnc Vgaion Indx), SVI (Simpl Vgaion Indx) and EVI (Enhancd Vgaion Indx) ar mos commonly usd sudis of rmo snsg for vgaion classificaion [8]. A wid rang of ohr dics hav bn dvlopd o offs h ffcs of soil cludg: Soil-Adjusd Vgaion Indx (SAVI), Grn Soil Adjusd Vgaion Indx (GSAVI), Opimizd Soli Adjusd Vgaion Indx (OSAVI) and Grn Opimizd Soil Adjusd Vgaion Indx (GOSAVI). Th rflciv propris of vgaion dpnd on hr yps of variabls: h canopy srucur (characrizd by foliar dx, h orinaion of h lavs and hir disribuion and siz), h opical propris of h rflciv lmns (sms, lavs, flowrs and fruis); and h gomry of obsrvaion, which is drmd by h rlaiv orinaion sunsurfac, and h posiion of h snsor wih rspc o h lar [11]. II. Sysm Dscripion As a soluion o h disadvanags of usg salli imags small agriculural aras, h aim of his projc is o dvlop a sysm abl o acquir, analyz and sor formaion o mak crop diagnosis wih arial imagry capur, hus mimizg oprag coss, gg highr rsoluion and br viwg rang of h spcific ara, ordr o idnify h rra variabiliy and cra prsn phnological condiions. A modl hlicopr is quippd wih wo camras (visibl and nar frard spcrum), a GPS sysm for diffrnial fild corrcion, bsids, prssur and aliud snsors, an IMU (Inrial Masurmn Uni) and a magnomr o monior h hlicopr saus ral im. Th crop formaion obad wirlssly is procssd by sofwar o b rprd and analyzd for is diagnosis hrough vgaion dics and gnraion of 3D maps which urn allows sg h DGPS locaion of h acquird imags and snsor paramrs a h momn of h capurg. Th amoun of radiaion rflcd from plans is vrsly rlad o h radiaion absorbd by pigmns, and varis wih h wavlngh of h cidnal radiaion. Plan pigmns such as chlorophyll srongly absorb radiaion h visibl spcrum (400 o 700 nanomrs); conras, plans A. Sysm Srucur Th sysm consiss of a fild saion and a bas saion. Th fild saion is composd of: a modl aircraf, an mbddd sysm and a vido camra for moniorg. Th bas saion is rsponsibl for 65

4 Crops Diagnosis Usg Digial Imag ocssg and cision AgriCUlur Tchnologis admisrg and managg h daa collcd h fild by wo compurs. Spcifically, h fild saion combs a modl aircraf (9053 Voliaion hlicopr) wih wo camras (visibl spcrum: HD 3000 and frard spcrum: LS-Y201-TTL-Infrard), GPS (VE- NUS638FLPX), rial masurmn unis (gyro and acclromr) IMU MPU 6050, prssur and aliud snsor (LPS331AP), lcronic compass (CMPS10), baris (LiPo yp and GP 9V 1604S 6F22) and a volag rgulaor (LM2596). Th procssg and ransmission of formaion o h bas saion via wirlss is prformd usg BaglBon Black mbddd sysm. Addiionally, h modl aircraf has a vido camra (1/3 CMOS Color, Scrw yp) wih ransmir cludd ha allows moniorg h fligh pah and imag capur from h bas saion ral im. Th bas saion is rsponsibl for admisrg and managg h daa collcd h fild by wo compurs: Compur1 quippd wih h lmry saion for rcivg h formaion from h snsors (IMU, GPS, compass, prssur and aliud; mbddd sysm saus and bary lvl) and Compur2 wih GPS bas saion (for h procss of capurg h GPS rfrnc posiion for diffrnial corrcion) and vido rackg of h UAV fligh. In acquirg h vido, h RF rcivr from h vido camra (1/3 CMOS Color, Scrw yp) is conncd o a fram grabbr (EasyCAP DC60). For rcivg GPS formaion (VENUS638FLPX) a h bas, a USB convrr o UART (PL2303) is usd. Compuador1 rcivs daa concrng h posiion of h modl aircraf, h acquird phoographs and h fild saion sysm saus, which is admisrd by h mbddd sysm. This sysm is abl o conrol, sor, pr-procss and snd h formaion wirlssly o h lmry saion applicaion whr i is displayd hrough a wb rfac, ral-im moniorg of snsors (IMU, GPS, compass, prssur and aliud) and h mbddd sysm formaion ( bary lvl and sysm saus.) Addiionally, i displays capurs akn by visibl and nar frard spcrum camras gnrag a x fil (.x) wih h formaion from h snsors h momn whn h phoographic capur was don, allowg downloadg of his formaion (imags,.x fil.) Compuador2 collcs GPS formaion from h bas saion hrough h GPS bas plaform rfac dvlopd Pyhon, charg of capurg, dcodg, sorg and displayg h NMEA cod ha h GPS snds. Th Ulad Vido Sudio SE DVD (vido dior sofwar) displays h pah of h UAV ral im, as suppor for is locaion and rfrnc whn capurg imags and ohr daa on h arial plaform. Wih rgard o daa procssg and dlivry of rsuls, Indxs Plaform is a sofwar program dvlopd Pyhon for h rspciv analysis and suppor of h crop diagnosis. Th Indx Plaform ak.x fil dlivrd by h GPS plaform bas, h lmry saion and h imags capurd by h camras of visibl and frard spcrum; hn prforms h calculaion of vgaion dxs. I graphically shows h rsul of ach on imags wih and wihou mprg o improv vision of phnological characrisics, i also shows h sgmnaion of h land o diffrnia crop from soil and gnras a 3D imag of is opography. Usg his sofwar, i is also possibl h acquisiion of h posiion daa of h GPS fild saion and h bas saion o s h coordas whr h imags wr capurd and wih hm, mak h rspciv DGPS corrcion and display h snsors saus o know h claion, dircion and aliud. B. Embddd Sysm Th mbddd sysm is h rsul of h srumnaion h UAV. This sysm compriss an srumnaion modul and h sofwar archicur of h mbddd sysm. Th srumnaion modul is rsponsibl for managg h priphrals conncd o i (s Fig. 1); and h sofwar archicur of h mbddd sysm diagrams h funcions usd by h procssor o prform h acquisiion and managmn of h daa by h snsors, and characrizs h libraris usd o acquir snsor daa and h procss ha maks h dvlopmn board o dlivr hos daa o srvrs for is admisraion. Th acquisiion of daa from snsors uss hr libraris: LIBFX, V4L and LIP_LSY201. Th LIBFX library is dvlopd h programmg languag C ++, i conas diffrn drivrs for managg mbddd sysm priphrals among which ar: UART_GPS, I2C_IMU, I2C_LPS, ADC_NIVEL and addiional libraris for procssg such as LN- MEA and FILTROAHRS. Th V4L library is rsponsibl for h configuraion and managmn of vido conrollrs, also wrin C ++ languag. Fally, h LIP_LSY201 library dvlopd Pyhon cod ss h LSY201 or NIR (frard) camra. C. Tlmry Saion. I is rsponsibl for displayg and capurg h daa collcd h fild by h mbddd sysm and admisrd by WEB_SERVER ha allows hrough h of Tlmry Saion wbsi (s Fig. 2) dvlopd Nod.js sourc cod (for layou and visualizaion of snsor daa) and JavaScrip (display of capurd imags), moniorg h UAV ral im and h usr s accss by TCPIP proocol. Th GPS bas saion allows sg a bnchmark and prformg DGPS diffrnial corrcion of daa collcd by h fild saion (s Fig. 3). 66

5 Ing Cuc, Vol. 11, N 1, pp 63-71, Jun, 2015 Fig.1 Insrumnaion modul of h mbddd sysm. 1) Modl aircraf; 2) BaglBon Black; 3) Visibl spcrum camra; 4) Infrard camra; 5) GPS fild saion; 6) Elcronic compass; 7) IMU; 8) ssur and aliud snsor; 9) SD card;10) Wirlss communicaion; 11) Rour; 12) Bas saion compur. Sourc: Auhors. Fig.2 Sysm srucur of h lmry saion. Sourc: Auhors 67

6 Crops Diagnosis Usg Digial Imag ocssg and cision Agriculur Tchnologis Fig. 3. DGPS Diffrnial corrcion plaform. Sourc: Auhors Fig. 4. Plaform for calculag vgaion dxs and 3D Map. Sourc: Auhor 68

7 Ing Cuc, Vol. 11, N 1, pp 63-71, Jun, 2015 E. Analysis and Diagnosis Th UAV sysm (s Fig. 5) was sd a fild of luc, bcaus i allows br idnificaion of h characrisics of h crop and soil, also i has a shor harvs priod. Th rra was dlimid as for an xprimnal plo o conduc h sudy, prsng faurs ha facilia h analysis and diagnosis of h crop. Svral phoographs wr akn o follow h phnological procss whr phoograph 1 was akn sarg on h fourh day afr h plang, and hn vry picur was akn ovr a priod of im ( days) of: 9, 15, 20, 25, 30, 35 and 40, havg a oal of 8 diffrn im priods. Inrfac dvlopd Pyhon cod and QT4Dsignr. I prforms daa procssg and dlivrs h rsuls o diagnos h sa of h crop. In his sofwar h imags capurd by h visibl and frard spcrum camra ar loadd oghr wih h Log.x fil which is dlivrd by h Tlmry Saion, and h hisory gpsbas.x fil. Th rfac prforms hr basic funcions: procsss imags, maks DGPS diffrnial corrcion, and displays daa and fal paramrs (s Fig. 4). This sofwar dvlops an imag procssg algorihm ha allows h characrizaion and diagnosis of a produciv agriculural uni. Th calculaion of vgaion dxs: GNVI (grn normalizd vgaion dx), RNVI (rd normalizd vgaion dx), SVI (sgl vgaion dx), GRVI (grn rd vgaion dx), DVI (diffrnc vgaiv dx), GDVI (grn diffrnc vgaion dx), NDVI (Normalizd Diffrnc Vgaion Indx), GNDVI (grn normalizd diffrnc vgaion dx), EVI (nhancd vgaion dx,) SIAV (soil dx adjusd vgaion), GSAVI (grn soil adjusd vgaion dx), OSAVI (opimizd soil adjusd vgaion dx), and GOSAVI (grn opimizd soil adjusd vgaion dx) is prformd by mans of raios and rcangulariy among spcral bands wih corrcions basd on land us. Th consans usd o drm ach vgaion dx wr basd on hos usd by salli sysms. To sablish crop diagnosis, imag sgmnaion is prformd accordg o vgaion dxs and h sa of ach crop or plan. As a rsul of h sgmnaion, vgaion and non-vgaion h crop is drmd by h nsiy of h gray lvl imag. Th analysis o drm h gnral sa of crop is carrid ou usg h rsulg sgmnaion imags of ach on of h vgaion dxs. Th visualizaion gnrad h Indx Plaform dicas: aribus of usd imags; DGPS corrcion daa of capur posiion; lif, wis and il of h UAV a h im of akg picurs; 3D figur of h sudid rra and, of cours, ach of h vgaion dxs showg raw daa, wih nhancmn and sgmnaion. D. Indxs Plaform Fig. 5. Gnral schm of h sysm opraion. Sourc: Auhors 69

8 Crops Diagnosis Usg Digial Imag ocssg and cision Agriculur Tchnologis changs h dx scal valus accordg o crop growh. Th Rd Normalizd Vgaion Indx RNVI (s Fig. 6g and 6h) was h bs on ha providd fasibl analysis faurs. Srucural changs h vs ar obsrvd, allowg idnificaion of a homognous growh his scion of h crop. Each plan rprsns a physiognomy wih a high conn of biomass and good concnraion of chlorophyll h lavs as wll as an adqua lvl of humidiy; Gnrally spakg, i can b frrd ha h laf ara is disribud proprly, favorg h growh and dvlopmn of ach plan. For crop analysis and diagnosis, h usd imags ar h ons corrspondg o h im of plang and six wks lar. Thus, h changs occurrg h crop durg is mos imporan phnological phass ar drmd. Figur 6 shows h imags capurd by h sysm and procssd usg h algorihm Pyhon, boh for h bar soil and h growg crop. On of h calculad vgaion dxs is shown as wll as h vgaion sgmnaion procdur accordg o h nomal scals of h dxs ha ar usd o discrima bwn vgaion and non-vgaion covrag. Th scal valus for covrag of hs wo yps highligh h b) a) c) d) ) f) 70 Nx...

9 Ing Cuc, Vol. 11, N 1, pp 63-71, Jun, 2015 Con... g) h) Fig.6. Imag spcrum: a) Imag h visibl spcrum for bar soil, b) Imag h visibl spcrum for soil wih vgaion covrag, c) Imag h NIR spcrum for bar soil, d) Imag h NIR spcrum for soil wih vgaion covrag, ) and f) RN Vgaion Indx,,g) and h) Vgaion Indx imag wih imag sgmnaion. Sourc: Auhors III. Conclusions For h dvlopmn of his projc, fiv programmg languags wr grad (HTML, JavaScrip, Nod.Js, C ++ and Pyhon) which oghr complmn ach sofwar ool (Saion Tlmry, GPS Bas Saion, Indxs Plaform), makg i possibl o gnra a bas from which diffrn applicaions for civilian us can b dvlopd, spcially h moniorg of crops, damag assssmn, sarch and rscu, locaion of naural rsourcs, frasrucur spcion, forsry sudis, scuriy applicaions and vryhg rlad o prcision agriculur, sc all hs applicaions mus adap an implmnaion of similar algorihms for handlg of his yp of imags. Som vgaion dxs show br characrisics and rsuls han ohrs, bu all of hm allow for h quanificaion of plan formaion. This projc should conu wih h adjusmn and corrcion of h obad valus for cass of disass, pss, irrigaion, nuriion and applicaion of pus spcific crops. IV. Acknowldgmns Th auhors ar graful o h rsarch groups DSP-UPTC and Macryp of UNILLANOS for h suppor h dvlopmn of his projc. [2] [3] [4] [5] [6] [7] [8] [9] [10] Rfrncs [1] R. Sugiura, T. Fukagawa, N. Noguchi, K. Ishii, Y. Shibaa, and K. Toriyama, Fild formaion sysm usg an agriculural hlicopr owards prcision farmg, IEEE/ASME Inrnaional Confrnc on Advancd Inllign Mcharonics, 2003, vol. 2, pp DOI: /aim [11] R. Sugiura, N. Noguchi, and K. Ishii, Rmo-snsg Tchnology for Vgaion Moniorg usg an Unmannd Hlicopr, Biosys. Eng., vol. 90, no. 4, pp , DOI: /j.biosysmsng M. Bragachi, A. Méndz, F. oii, and F. Scaramuzza, oyco Agriculura d cisión, INTA Manfrdi, [En lína]. Disponibl n: hp://coschayposcoscha.org/daa/follos/folloagriculuradcision.pdf. C. Gonzálz, J. Spúlvda, R. Barroso, F. Frnándz, F. Pérz, and J. Lornzo, Sisma para la gnración auomáica d mapas d rndimino. Aplicación n la agriculura d prcisión, Idsia, vol. 29, no. 1, pp , DOI: /S J. Pñafil and J. Zagas, Fundamnos dl sisma GPS y aplicacions n la opografía. Madrid, 2001, pp F. Mdiros, A. Sanos, M. Gonzai, V. Olivira, and M. Landrhal, Uilização d umvículo aéro nãoripulado maividads d imagamno gorfrnciado, Ciência Rural, vol. 38, no. 8, pp , DOI: /S X. Burgos, A. Ribiro, A. Tllach, G. Pajars, and C. Frnándz, Analysis of naural imags procssg for h xracion of agriculural lmns, Imag Vis. Compu., vol. 28, no. 1, pp , DOI: /j. imavis D. J. Mulla, Twny fiv yars of rmo snsg prcision agriculur: Ky advancs and rmag knowldg gaps, Biosys. Eng., vol. 114, no. 4, pp , DOI: /j.biosysmsng J. Torrs-Sánchz, F. Lópz-Granados, A. I. D Casro, and J. M. Pña-Barragán, Configuraion and Spcificaions of an Unmannd Arial Vhicl (UAV) for Early Si Spcific Wd Managmn, PLoS On, vol. 8, no. 3, pp. 1 15, DOI: /journal.pon A. Casro, J. Pña, L. Garcia, and F. Lópz, Discrimación d malas hirbas crucífras n culivos d virno para su aplicación n agriculura d prcisión, XIII Congrso d la Asociación Española d TldcciónCalaayud, 2009, pp Q. Du, B. Luo, and J. Chanusso, Usg High-Rsoluion Airborn and Salli Imagry o Assss Crop Growh and Yild Variabiliy for cision Agriculur, oc. IEEE, vol. 101, no. 3, pp , DOI: /JPROC