System and method for identifying weeds within a field during an agricultural spraying operation
A system for identifying weeds present within a field includes an imaging device configured to capture an image depicting a plurality of plants present within the field. Furthermore, the system includes a computing system communicatively coupled to the imaging device, with the computing system configured to receive the image captured by the imaging device. Additionally, the computing system is configured to identify a stalk of each of the plurality of the plants depicted within the received image. Moreover, the computing system is configured to determine a parameter associated with each identified stalk. In addition, the computing system is configured to identify each plant of the plurality of plants as a crop or a weed based on the corresponding determined parameter.
1. A system for identifying weeds present within a field, the system comprising: a nozzle configured to selectively dispense an agricultural fluid onto a plant present within the field; an imaging device configured to capture an image depicting a plurality of plants present within the field; and a computing system communicatively coupled to the imaging device, the computing system configured to:
receive the captured image from the imaging device; identify a stalk of each plant of the plurality of the plants depicted within the received image; determine a parameter associated with each identified stalk; receive an input indicative of an intra-row crop spacing of a crop; identify each plant of the plurality of plants as the crop or a weed based on the corresponding determined parameter and the received input; and control an operation of the nozzle to selectively dispense the agricultural fluid based on the identification of each plant as one of the crop or the weed, wherein, when identifying the stalk of each plant of the plurality of plants, the computing system is configured to:
classify each pixel of a plurality of pixels forming the received image as one of a plant pixel or a non-plant pixel based on a color of each pixel; identify each group of pixels classified as plant pixels and having a ratio of length and width within a predetermined range as the stalk of one of the plurality of plants;identify a bottom end of each plant;
identify a top end of each plant; form a line extending from the top end of each plant to the bottom end of the corresponding plant; and wherein, when identifying the bottom end of each plant, the computing system is configured to: identify interfaces between groups of pixels classified as plant pixels and groups of pixels classified as non-plant pixels; identify first and second supplementary angles defined by a given interface of the identified interfaces; and determine a distance between vertices of the identified first and second supplementary angles; and when the determined distance is within a predetermined range, identify a portion of the given interface extending between the first and second supplementary angles as the bottom end of one of the plurality of plants.
2. The system of claim 1 , wherein the determined parameter comprises a length of the stalk.
3. The system of claim 1 , wherein the determined parameter comprises an orientation of the stalk.
4. The system of claim 1 , wherein, when identifying the top end of each plant, the computing system is, for a given group of pixels classified as plant pixels, configured to: identify one or more acute angles defined between portions of the given group of pixels classified as plant pixels; and identify a vertex of an acute angle of the identified one or more acute angles positioned farthest from the corresponding identified bottom end.
5. The system of claim 4 , wherein, when forming the line, the computing system is configured to form the line such that the line connects the vertex of each of the one or more identified acute angles to the corresponding bottom end.
6. The system of claim 1 , wherein, when determining the parameter associated with each identified stalk, the computing system is configured to determine at least one of a length or an orientation of each of the formed lines.
7. A method for identifying weeds present within a field, the method comprising: receiving, with a computing system, an image depicting a plurality of plants present within a portion of the field from an imaging device; identifying, with the computing system, a stalk of each plant of the plurality of the plants depicted within the received image; determining, with the computing system, a parameter associated with each identified stalk; receiving, with the computing system, an input indicative of an intra-row crop spacing of a crop; identifying, with the computing system, each plant of the plurality of plants as the crop or a weed based on the corresponding determined parameter and the received input; and controlling, with the computing system, an operation of a nozzle of an agricultural sprayer to selectively dispense agricultural fluid based on the identification of each plant as one of the crop or the weed wherein identifying the stalk of each plant of the plurality of plants comprises: classifying, with the computing system, each pixel of a plurality of pixels forming the received image as one of a plant pixel or a non-plant pixel based on a color of each pixel; identifying, with the computing system, each group of pixels classified as plant pixels and having a ratio of length and width within a predetermined range as the stalk of one of the plurality of plants; identifying, with the computing system, a bottom end of each plant; identifying, with the computing system, a top end of each plant; and forming, with the computing system, a line extending from the top end of each plant to the bottom end of the corresponding plant, wherein identifying the bottom end of each plant comprises:
identifying, with the computing system, interfaces between groups of pixels classified as plant pixels and groups of pixels classified as non-plant pixels; identifying, with the computing system, first and second supplementary angles defined by a given interface of the identified interfaces; and determining, with the computing system, a distance between vertices of the identified first and second supplementary angles; and when the determined distance is within a predetermined range, identifying, with the computing system, a portion of the given interface extending between the first and second supplementary angles as the bottom end of one of the plurality of plants.
8. The method of claim 7 , wherein the determined parameter comprises a length of the stalk.
9. The method of claim 7 , wherein the determined parameter comprises an orientation of the stalk.
10. The method of claim 7 , wherein identifying the top end of each plant comprises for a given group of pixels classified as plant pixels: identifying, with the computing system, one or more acute angles defined between portions of the given group of pixels classified as plant pixels; and identifying, with the computing system, a vertex of an acute angle of the identified one or more acute angles positioned farthest from the correspond identified bottom end.