Benchmarking of monocular camera UAV-based localization and mapping methods in vineyards

UAVs equipped with various sensors offer a promising approach for enhancing orchard management efficiency. Up-close sensing enables precise crop localization and mapping, providing valuable a priori information for informed decision-making. Current research on localization and mapping methods can be broadly classified into SfM, traditional feature-based SLAM, and deep learning-integrated SLAM. While previous studies have evaluated these methods on public datasets, real-world agricultural environments, particularly vineyards, present unique challenges due to their complexity, dynamism, and unstructured nature.

To bridge this gap, we conducted a comprehensive study in vineyards, collecting data under diverse conditions (flight modes, illumination conditions, and shooting angles) using a UAV equipped with high-resolution camera. To assess the performance of different methods, we proposed five evaluation metrics: efficiency, point cloud completeness, localization accuracy, parameter sensitivity, and plant-level spatial accuracy. We compared two SLAM approaches against SfM as a benchmark.

Our findings reveal that deep learning-based SLAM outperforms SfM and feature-based SLAM in terms of position accuracy and point cloud resolution. Deep learning-based SLAM reduced average position error by 87% and increased point cloud resolution by 571%. However, feature-based SLAM demonstrated superior efficiency, making it a more suitable choice for real-time applications. These results offer valuable insights for selecting appropriate methods, considering illumination conditions, and optimizing parameters to balance accuracy and computational efficiency in orchard management activities.