Measuring ornamental tree canopy attributes for precision spraying using drone technology and self-supervised segmentation

Abstract

Tree canopy attributes or characteristics, such as canopy volume and density, are important parameters for calculating the precise quantity of agrochemicals required in each tree. Assessing the agrochemical needs in a nursery can help growers effectively estimate expenses, mitigate the risks of overuse or underuse, enhance resource utilization, and promote sustainable agricultural practices. This study aimed to develop an unmanned aerial vehicle (UAV)-based system to measure tree canopy attributes like tree height, tree count, canopy area and canopy volume using an image processing and self-supervised zero-shot segmentation approach. A high-resolution red-green-blue (RGB) sensor mounted on a drone captured three aerial image datasets, D1 and D2 from the first experimental plot and D3 from the second experimental plot. The acquired aerial images were stitched together and processed to generate a digital surface model (DSM) and a digital terrain model (DTM). A self-supervised zero-shot segmentation model, Segment Anything Model (SAM), was applied for tree segmentation and counting. The tree canopy area was calculated by segmenting individual trees and applying a conversion factor to convert pixelwise areas into square meters. Height calculation was done using elevation data of each pixel from DSM-DTM imagery within SAM-derived bounding box coordinates, and the highest pixel was considered as the height of the tree. The drone-calculated heights of 24 randomly selected trees were compared with manually measured heights in all datasets. The results showed an average absolute error of 2.43% in D1, 7.09% in D2 and 12.58% in D3. The Mean Absolute Error (MAE) and Root Mean Square Error (RMSE) were noted to be 0.09 m and 0.23 m in D1, 0.13 m and 0.25 m in D2, and 0.16 m and 0.21 m in D3, respectively. In D3, manual area and volume calculations were performed for validation. The RMSE and MAE for area calculation were calculated as 0.18 m² and 0.15 m², respectively, and the RMSE and MAE for volume measurements were calculated as 0.33 m³ and 0.26 m³ respectively, which indicated the level of agreement between manual and drone measurements. Using canopy volume information, calculated by summing pixel heights within each tree’s bounding box and multiplying by the ground sample distance (GSD) of 0.025 m per pixel, the average quantity of agrochemicals needed for a Maple tree was estimated at 0.20 L. These results underscore the high potential of this method for accurate canopy characteristic calculations and precision spray applications in the ornamental industry.