Apparatus and method for area mapping
The invention relates to an apparatus ( 1 ) and a method for area mapping, wherein the apparatus ( 1 ) for area mapping includes a framework having a main camera ( 2 ) and/or a main sensor attached to the framework, and at least two auxiliary cameras ( 3 ) and/or auxiliary sensors attached to the framework, wherein the main camera ( 2 ) and/or the main sensor as well as the at least two auxiliary cameras ( 3 ) and/or the at least two auxiliary sensors have a defined camera footprint ( 8, 9 ) on the ground and a defined ground image resolution, wherein the camera footprint ( 8 ) of the auxiliary cameras ( 3 ) and/or auxiliary sensors on the ground is smaller than the camera footprint ( 9 ) of the main camera ( 2 ) and/or of the main sensor on the ground and lies at least partially within same, and the ground image resolution of the auxiliary cameras ( 3 ) and/or auxiliary sensors is greater than the ground image resolution of the main camera ( 2 ) and/or of the main sensor, and the auxiliary cameras ( 3 ) and/or auxiliary sensors are aligned such that images generated by the auxiliary cameras ( 3 ) and/or auxiliary sensors at least partially overlap, and the area mapping apparatus ( 1 ) has at least one GNSS receiver and a trigger mechanism, wherein the GNSS receiver, the main camera ( 2 ) and/or the main sensor and the at least two auxiliary cameras ( 3 ) and/or auxiliary sensors are coupled to the trigger mechanism, as a result of which quick creation of high-resolution, georeferenced orthomosaic images of areas and high area coverage is made possible.
1 . A method for area and plant mapping implemented with an apparatus, the method comprising:
a) providing a main sensor and at least two auxiliary sensors that are arranged in a circle around the main sensor with the main sensor being disposed at a center of the circle, wherein the main sensor has a main camera footprint on the ground and a main image ground resolution, and the at least two auxiliary sensors each have an auxiliary camera footprint on the ground and each having an auxiliary defined image ground resolution, the auxiliary camera footprints of the at least two auxiliary sensors on the ground being smaller than the main camera footprint of the main sensor on the ground, wherein the auxiliary camera footprints lie at least partially within the main camera footprint, wherein the auxiliary defined image ground resolutions of the auxiliary sensors are greater than the main image ground resolution of the main sensor, wherein the auxiliary sensors are aligned such that images generated by the auxiliary sensors are arranged in a linear direction and at least partially overlap, wherein the apparatus comprises at least one GNSS receiver and a trigger mechanism, wherein the GNSS receiver, the main sensor and the at least two auxiliary sensors are coupled to the trigger mechanism;
b) triggering the trigger mechanism for (i) capturing images of the ground by the main sensor and (ii) determining position data for the images by means of the at least one GNSS receiver;
c) triggering the trigger mechanism for capturing images of the ground by the at least two auxiliary sensors; and
d) preprocessing of the images generated by the main sensor and the at least two auxiliary sensors, the preprocessing configured to generate georeferenced orthomosaic images from which plants can be identified and mapped.
2 . The method for area and plant mapping according to claim 1 , wherein the trigger mechanism in step b) and/or c) is triggered several times in succession and thus several images are taken in succession by at least one of the main and at least two auxiliary sensors.
3 . The method for area and plant mapping according to claim 1 , wherein the triggering mechanism in step b) and/or b) is triggered several times so that the images recorded with the main sensor overlap in a direction of movement of the apparatus.
4 . The method for area and plant mapping according to claim 1 , wherein the apparatus is tilted, rotated and/or pivoted relative to the direction of movement during the movement in the direction of movement.
5 . The method for area and plant mapping according to claim 1 , wherein, if a laterally offset recorded image has already been previously recorded with the main sensor laterally offset, the subsequent image recorded with the main sensor at least partially overlaps with the laterally offset recorded image.
6 . The method for area and plant mapping according to claim 5 , wherein the overlap of the subsequent image recorded with the main sensor with the laterally offset recorded image of the main sensor is more than 20%.
7 . The method for area and plant mapping according to claim 1 , wherein the orthomosaic images are generated from the images recorded with of the main sensor and/or the auxiliary sensors via photogrammetric calculations.
8 . The method for area and plant mapping according to claim 1 , wherein an orthomosaic image of the main sensor is georeferenced using the position data of the at least one GNSS receiver; and an orthomosaic image of the auxiliary sensors is georeferenced by comparison with the georeferenced orthomosaic image generated by the main sensor.
9 . The method for area and plant mapping according to claim 1 , wherein georeferencing of the images recorded by of the auxiliary sensors is performed based on a calibration of an orientation of the auxiliary sensors relative to the main sensor and georeferenced images of the main sensor and/or a georeferenced orthomosaic image of the main sensor.
10 . The method for area and plant mapping according to claim 9 , wherein the calibration is carried out by measuring the auxiliary camera footprints of the aligned auxiliary sensors in the main camera footprint of the main sensor.
11 . A method for area and plant mapping according to claim 1 , further comprising creating an herbicide application map for a field sprayer from the georeferenced orthomosaic images.
12 . A method for area and plant mapping by means of an apparatus for area and plant mapping, the apparatus comprising a main sensor and at least two auxiliary sensors, wherein the main sensor has a main camera footprint on the ground and a main image ground resolution, and the at least two auxiliary sensors each have a defined camera footprint on the ground and each having an auxiliary defined image ground resolution, the auxiliary camera footprints of the at least two auxiliary sensors on the ground being smaller than the main camera footprint of the main sensor on the ground, wherein the auxiliary camera footprints lie at least partially within the main camera footprint, wherein the auxiliary defined image ground resolution of the auxiliary sensors are greater than the main image ground resolution of the main sensor, wherein the auxiliary sensors are aligned such that images generated by the auxiliary sensors are arranged in a linear direction and at least partially overlap, wherein the apparatus comprises at least one GNSS receiver and a trigger mechanism, wherein the GNSS receiver, the main sensor and the at least two auxiliary sensors are coupled to the trigger mechanism, wherein the method comprises:
a) triggering the trigger mechanism for (i) capturing images of the ground by the main sensor and (ii) determining position data for the images by means of the at least one GNSS receiver;
b) triggering the trigger mechanism for capturing images of the ground by the at least two auxiliary sensors; and
c) preprocessing of the images generated by the main sensor and the at least two auxiliary sensors, the preprocessing configured to generate georeferenced orthomosaic images from which plants can be identified and mapped, wherein georeferencing of the images recorded by the auxiliary sensors is performed based on a calibration of an orientation of the auxiliary sensors relative to the main sensor and georeferenced images of the main sensor and/or a georeferenced orthomosaic image of the main sensor.