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Phenotyping crop performance is critical for line selection and variety development in plant breeding. Canola (Brassica napus L.) flowers, the bright yellow flowers, indeterminately increase over a protracted period. Flower production of canola plays an important role in yield determination. Yellowness of canola petals may be a critical reflectance signal and a good predictor of pod number and, therefore, seed yield. However, quantifying flowering based on traditional visual scales is subjective, time-consuming, and labor-consuming. Recent developments in phenotyping technologies using Unmanned Aerial Vehicles (UAVs) make it possible to effectively capture crop information and to predict crop yield via imagery. Our objectives were to investigate the application of vegetation indices in estimating canola flower numbers and to develop a descriptive model of canola seed yield. Fifty-six diverse Brassica genotypes, including 53 B. napus lines, two Brassica carinata lines, and a Brassica juncea variety, were grown near Saskatoon, SK, Canada from 2016 to 2018 and near Melfort and Scott, SK, Canada in 2017. Aerial imagery with geometric and radiometric corrections was collected through the flowering stage using a UAV mounted with a multispectral camera. We found that the normalized difference yellowness index (NDYI) was a useful vegetation index for representing canola yellowness, which is related to canola flowering intensity during the full flowering stage. However, the flowering pixel number estimated by the thresholding method improved the ability of NDYI to detect yellow flowers with coefficient of determination (R2) ranging from 0.54 to 0.95. Moreover, compared with using a single image date, the NDYI-based flowering pixel numbers integrated over time covers more growth information and can be a good predictor of pod number and thus, canola yield with R2 up to 0.42. These results indicate that NDYI-based flowering pixel numbers can perform well in estimating flowering intensity. Integrated flowering intensity extracted from imagery over time can be a potential phenotype associated with canola seed yield.

The field pea has both semi-leafless (SL) and leafed (L) types. Mixing these two types together might improve yield by optimizing pea solar radiation interception, reducing lodging, and decreasing disease. However, an optimum mixing ratio has not yet been established, since previous studies mixed two leaf types from two separate varieties. This study used four near-isogenic pairs of pea genotypes differing only in leaf type to determine the optimal mixing ratio for yield and agronomic traits. Two leaf types were mixed at seeding in five mixing ratios: 0:100, 50:50, 67:33, 83:17, and 100:0 SL/L. With precise UAV quantification of canopy height (r2 = 0.88, RMSE = 2.6 cm), the results showed that a ratio of over 67% semi-leafless pea had a 10% greater lodging resistance when compared to the leafed monoculture. For mycosphaerella blight and Uromyce viciae-fabae rust diseases, the 83:17 mixture decreased disease severity by 4% when compared with the leafed monoculture. Regression analysis of yield estimated that the 86:14 ratio provided an 11% increase to the leafed monoculture, but there was no increase compared with the semi-leafless monoculture. Mixing the two types in a high semi-leafless ratio can reduce leafed lodging and prevent yield loss but does not increase the overall yield over the semi-leafless monoculture.

The traditional visual rating system is labor-intensive, time-consuming, and prone to human error. Unmanned aerial vehicle (UAV) imagery-based vegetation indices (VI) have potential applications in high-throughput plant phenotyping. The study objective is to determine if UAV imagery provides accurate and consistent estimations of crop injury from herbicide application and its potential as an alternative to visual ratings. The study was conducted at the Kernen Crop Research Farm, University of Saskatchewan in 2016 and 2017. Fababean (Vicia faba L.) crop tolerance to nine herbicide tank mixtures was evaluated with 2 rates distributed in a randomized complete block design (RCBD) with 4 blocks. The trial was imaged using a multispectral camera with a ground sample distance (GSD) of 1.2 cm, one week after the treatment application. Visual ratings of growth reduction and physiological chlorosis were recorded simultaneously with imaging. The optimized soil-adjusted vegetation index (OSAVI) was calculated from the thresholded orthomosaics. The UAV-based vegetation index (OSAVI) produced more precise results compared to visual ratings for both years. The coefficient of variation (CV) of OSAVI was ~1% when compared to 18-43% for the visual ratings. Furthermore, Tukey’s honestly significance difference (HSD) test yielded a more precise mean separation for the UAV-based vegetation index than visual ratings. The significant correlations between OSAVI and the visual ratings from the study suggest that undesirable variability associated with visual assessments can be minimized with the UAV-based approach. UAV-based imagery methods had greater precision than the visual-based ratings for crop herbicide damage. These methods have the potential to replace visual ratings and aid in screening crops for herbicide tolerance.

With the advent of unmanned aerial vehicles (UAVs), a major area of interest in the research field of UAVs has been vision-aided inertial navigation systems (V-INS). In the front-end of V-INS, image processing extracts information about the surrounding environment and determines features or points of interest. With the extracted vision data and inertial measurement unit (IMU) dead reckoning, the most widely used algorithm for estimating vehicle and feature states in the back-end of V-INS is an extended Kalman filter (EKF). An important assumption of the EKF is Gaussian white noise. In fact, measurement outliers that arise in various realistic conditions are often non-Gaussian. A lack of compensation for unknown noise parameters often leads to a serious impact on the reliability and robustness of these navigation systems. To compensate for uncertainties of the outliers, we require modified versions of the estimator or the incorporation of other techniques into the filter. The main purpose of this paper is to develop accurate and robust V-INS for UAVs, in particular, those for situations pertaining to such unknown outliers. Feature correspondence in image processing front-end rejects vision outliers, and then a statistic test in filtering back-end detects the remaining outliers of the vision data. For frequent outliers occurrence, variational approximation for Bayesian inference derives a way to compute the optimal noise precision matrices of the measurement outliers. The overall process of outlier removal and adaptation is referred to here as “outlier-adaptive filtering”. Even though almost all approaches of V-INS remove outliers by some method, few researchers have treated outlier adaptation in V-INS in much detail. Here, results from flight datasets validate the improved accuracy of V-INS employing the proposed outlier-adaptive filtering framework.

In visual-inertial odometry (VIO), inertial measurement unit (IMU) dead reckoning acts as the dynamic model for flight vehicles while camera vision extracts information about the surrounding environment and determines features or points of interest. With these sensors, the most widely used algorithm for estimating vehicle and feature states for VIO is an extended Kalman filter (EKF). The design of the standard EKF does not inherently allow for time offsets between the timestamps of the IMU and vision data. In fact, sensor-related delays that arise in various realistic conditions are at least partially unknown parameters. A lack of compensation for unknown parameters often leads to a serious impact on the accuracy of VIO systems and systems like them. To compensate for the uncertainties of the unknown time delays, this study incorporates parameter estimation into feature initialization and state estimation. Moreover, computing cross-covariance and estimating delays in online temporal calibration correct residual, Jacobian, and covariance. Results from flight dataset testing validate the improved accuracy of VIO employing latency compensated filtering frameworks. The insights and methods proposed here are ultimately useful in any estimation problem (e.g., multi-sensor fusion scenarios) where compensation for partially unknown time delays can enhance performance.

This paper presents a summary of a subset of the extensive vision-based tracking methods developed at Georgia Tech. The problem of a follower aircraft tracking an uncooperative leader, using vision information only, is addressed. In all the results presented, a single monocular camera is used as the sole source of information used to maintain formation with the leader. A Kalman filter formulation is provided for the case where image processing may be used to estimate leader motion in the image plane. An additional piece of information, the subtended angle, also available from computer vision algorithm is used to improve range estimation accuracy. In situations where subtended angle information is not available, an optimal trajectory is generated that improves range estimation accuracy. Finally, assumptions on the target acceleration are relaxed by augmenting a Kalman Filter with an adaptive element.