Flight Planning of a Drone which Recognizes a Tree Branch Structure for Compensating Missing 3-Dimensional Data

Abstract

In tree branch structure recognition for fruits identification and branch pruning, it is necessary to compensate missing 3-dimensional data. In this paper, we propose an algorithm to detect 3-dimensional information shortage and an algorithm to determine the target position and posture that is expected to compensate the shortage. We propose a flight planning method of a drone that flies toward the target position and posture for compensating missing 3-dimensional data. We verified each algorithm and carried out the flight simulation of the drone. We also compared tree branch structure recognition results and confirmed that missing information was compensated.