An analysis of the effects of water regime on grapevine canopy status using a UAV and a mobile robot

In this paper, we propose a novel approach for analyzing the effects of water regime on grapevine canopy status using robotics as an aid for monitoring and mapping. Data from an unmanned aerial vehicle (UAV) and a ground mobile robot are used to obtain multispectral images and multiple vegetation indexes, and the 3D reconstruction of the canopy, respectively. Unlike previous works, sixty vegetation indexes are computed precisely by using the projected area of the vineyard point cloud as a mask. Extensive experimental tests on repeated plots of Pinot gris vines show that the GDVI, PVI, and TGI vegetation indexes are positively correlated with the water potential: GDVI ($R^2=0.90$ and 0.57 for the stem and pre-dawn water potential, respectively), PVI ($R^2=0.90$ and 0.57), TGI ($R^2=0.87$ and 0.77). Furthermore, the canopy volume and the canopy area projected on the ground are impacted by the water status, as well as stem and pre-dawn water potential measurements. The results obtained in this work demonstrate the feasibility of the proposed approach and the potential of robotic technologies, supporting precision viticulture.