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Assumptions
The Image Aquisition System will be a payload on the BenchBot, and can rely on the BenchBot meeting its stated requirements.
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The purpose of BB 3.0 is to collect large amounts of high throughput image data in semi-controlled outdoor nursery conditions of agriculturally relevant weeds, cover crops, and cash crops. Images are collected in such a way that they can be semi-automatically annotated, enabling the development of a comprehensive image repository. The image repository will serve as a valuable resource for computer vision researchers and professionals in the field.
Image Quality Requirements
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Id
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Requirement name
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Description
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Category
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Allowable Limits
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Status
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Solution
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1.1
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Image quality
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Shall exceed state-of-the-art image quality standards to align with future use cases and camera systems.
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Image Quality
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1.2
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Image Resolution
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Shall meet the allowable limits for GSD (Ground Sample Distance)
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Image Quality
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9.1 pixels per mm (emergence)
5.9 pixels per mm (late growth stage)
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Minimum resolution
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1.3
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MP
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Image Quality
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1.4
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Sensor size
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Full frame
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Image Quality
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1.6
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Sensor type
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CMOS
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Image Quality
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1.7
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Pixel size
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Image Quality
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Depth of field
Depth of field considerations to keep in mind wrt need for z-axis camera movement
With a set of base assumptions, the produced depth of field is 16.9 cm, corresponding to a far and near limit at 1.74 m and 1.57 m respectively, assuming that the focus is set for a distance of 1.65 m. This is based on a pixel size of 3.76um in a full frame sensor setup at 61 megapixel, a 55mm lens, an aperture of F13 and a distance from the camera to the plant of 1.65 meter. As the aperture is physically decreased, the depth of field in increase, at the cost of decreased optical resolution due to diffraction. F13, is what I, Søren, would characterize as the sweet-spot between depth of field and a negligible loss of optical resolution due to diffraction. Sources for depth of field and diffraction calculations.
Image Quality Requirements
Id | Requirement name | Description | Category | Allowable Limits | Status | Solution |
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1.1 | Image quality | Image noise must be kept to a minimum by using to the camera’s base ISO while still have an acceptable exposure histogram | Image Quality | ISO=BASE (100 for Sony full frame sensors) | ||
1.2 | Image Resolution | Should provide a soil-level Ground Sample Distance (GSD) of minimum 8 pixels per mm. | Image Quality | 7-9 pixels per mm (emergence) | ||
Minimum resolution | ||||||
1.3 | MP | Image Quality | ||||
1.4 | Sensor size | Full frame | Image Quality | |||
1.6 | Sensor type | CMOS | Image Quality | |||
1.7 | Pixel size | Image Quality | ||||
Circle of confusion | ||||||
1.8 | File type | Shall output RAW and JPG files | Image Quality | |||
IQ 3.1 | File architecture | Shall create a folder per data collection day and save files in such folder | ||||
IQ.2.0 | Plant size | Shall support plant sizes with a height ranging from 0 cm to 40 cm above the pot soil | ||||
IQ.2.1 | Plant size | Shall reliably support plant sizes with a planar radius of 30 cm at soil level, centered at each pot. | ||||
IQ.3.0 | Automation | Shall minimize day to day adjustments. These include aperture control during image collection, and preprocessing and white balancing in post | ||||
IQ.4.0 | Visual feedback | Should provide visual feedback to the user for manual inspection of errors during data collection | User Interaction | |||
Auto focus | ||||||
Image throughput | Shall be able to capture images of 500 pots in less than 4 hours (500 images) | Speed and Throughput | ||||
Data transfer speed | Shall be such that does not jeopardize the minimum required image throughput. | Speed and Throughput | ||||
Species ID | Shall provide species ID for each pot in X, Y position | Metadata | ||||
Weather info | Shall have accurate local weather data information for each run | Metadata | Captured from on site weather station | |||
Light information | Shall provide incident light information per image | Metadata | Sensor positioned near camera | |||
Shall allow the user to enter metadata | User Interaction | |||||
Shall allow the user to share data | User Interaction | |||||
Shall allow the user to control User Interaction | User Interaction | |||||
Shall allow the user to change camera settings | User Interaction | |||||
Shall allow the user to trigger camera independently | User Interaction | |||||
Camera position | Shall provide camera position and orientation | Metadata | +/- 1 cm +/- 1o | |||
Internet connection | Good to have | |||||
Images shall overlap | 65% |
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