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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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Collect high resolution images in an automated and systematic manner.
Collect environmental metadata.
Track metadata corresponding to each image.
Automate data upload.
Obtain camera position/orientation relative to grid.
Good user experience.
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Introduction
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Image Quality
IQ.1.0 - Image quality
IQ.2.0 - Plant size
IQ.3.0 - Minimize adjustments
IQ.4.0 - Visual feedback
Sensor
S.1.0 - Cage
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S.3.0 - Mounting to Gantry
S.2.0 - Image throughput (edge)
S.2.0 - Image throughput (cloud)
Image Capture
IC.1.0 - Y slider
Speed and Throughput
ST.1.0 - Image Capture
ST.2.0 - Motion
Metadata
M.1.0 - Species ID
M.2.0 - Weather info
M.3.0 - Weather station
M.4.0 - Incident light sensor
M.5.0 - RTK
M.6.0 - Position information
M.7.0 - IMU data
Requirement Workflow
Introduction
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.
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Our current Godox AR400 ring flash has an output of approximately 8500 lumenseconds with an unknown flash duration. However, assuming that the same numbers apply, we have: 1,270,000 lux, or 13 times the maximum sunlight intensity for a short interval. If limited to a shutter speed of 1/200 due to a rolling shutter sensor, that number is down to 1,700,000 lumen and 170,000 lux, or 1.7 times the sun intensity.
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Requirements Table
Id | Requirement name | Description | Category | Allowable Limits | Status | Justification |
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A. |
1 | Automation | Shall minimize day to day adjustments during data acquisition and postprocessing. | Automation | |||
A.2 | Color checker | Shall tag the color checker image | Automation |
D. |
1 | Plant size | Shall reliably support plant sizes with a planar radius of 30 cm at soil level, centered at each pot. | Data | |||
D.2 | Could support multiple sensors simultaneously | Data | ||||
D.3 | Images shall overlap | Data | 65% |
D.4 | File type | Shall output RAW and JPG files | Data | |||
D.5 | File architecture | Shall create a folder per data collection day and save files in such folder | Data |
D. |
6 | Plant size | Shall support plant sizes with a height ranging from 0 cm to 40 cm above the pot soil | Data | |||
G.1 | Internet connection | Good to have | ||||
IQ.1 | Flash (Roller shutter) Intensity | Image Quality | Minimum 200,000 lux | |||
IQ.2 | Flash (Roller shutter) Duration | Image Quality | Minimum of 1/200 sec | |||
IQ.3 | Flash (Global shutter) Intensity | Image Quality | Minimum 1.2M lux | |||
IQ.4 | Flash (Global shutter) Duration | Image Quality | Minimum 1/5000 sec | |||
IQ.5 | Auto focus | Camera shall have auto focus | Image Quality | TRUE/FALSE | ||
IQ.6 | Automatic manual focus | If auto focus FALSE then this one is needed | Image Quality | z positional accuracy of 3 cm |
IQ. |
7 | ISO | The camera shall be configured to avoid analog amplification of pixel values to avoid ISO noise. | Image Quality | ISO=BASE (100 for Sony full frame sensors) Analog amplification of 0dB on pixel readings on non-consumer cameras | Image noise must be kept to a minimum by using the camera’s base ISO while still have an acceptable exposure histogram |
IQ. |
8 | Relative Image Resolution | The camera should provide a minimum soil-level Ground Sample Distance (GSD) | Image Quality | 7-9 pixels per mm (emergence) | ||
IQ.9 | Depth of field | Image Quality | Minimum 15 cm | |||
IQ.10 | Color temperature | The color temperature shall be consistent | Image Quality | +/- 200K | ||
IQ.11 | Color rendering index | Image Quality | 90 or greater | |||
M.1 |
Shall output RAW and JPG files
Data
Species ID | Shall provide species ID for each pot in X, Y position | Metadata | ||||
M.2 | Weather info | Shall have accurate local weather data information for each run | Metadata | Captured from on site weather station | ||
M.3 | Light information | Shall provide incident light information per image | Metadata | Sensor positioned near camera | ||
M.4 | Camera position | Shall provide absolute and relative camera position and orientation | Metadata | +/- 1 cm +/- 1o | ||
M.5 | Image metadata | Shall provide ISO and Shutter Speed | Metadata | |||
Shall allow the user to change camera settings | Not a general requirement | |||||
ST.1 | Image throughput | Shall be able to capture images of 500 pots in less than 4 hours (500 images) | Speed and Throughput | |||
ST.2 | Data transfer speed | Shall be such that does not jeopardize the minimum required image throughput. | Speed and Throughput |
UI. |
1 | Visual feedback | Should provide visual feedback to the user for manual inspection of errors during data collection | User Interaction | |||
UI.2 | Shall allow the user to enter metadata | User Interaction | ||||
UI.3 | Shall allow the user to share data | User Interaction | ||||
UI.4 | Shall allow the user to trigger camera independently | User Interaction |
Auto focus
Emergent design properties
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S.1.0
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Auto focus
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should be designed to
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S.2.0
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S.3.0
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S.4.0
Image Capture Requirements
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Key
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Summary
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Specification
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Allowable Limits
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Status
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IC.1.0.0
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Y position
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Shall have the ability of the Y camera slider to stop in certain positions
Speed and Throughput Requirements
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Key
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Summary
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Specification
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Allowable Limits
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Status
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ST.1.0.0
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Image throughput
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ST.2.0.0
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Data transfer speed
Metadata Requirements
Key
Summary
Specification
Allowable Limits
Status
M.1.0
Species ID
Shall provide species ID for each pot in X, Y position
M.2.0
Weather info
Shall have weather data information for each run captured from weather station
M.3.0
Weather station
Shall have a weather station
Camera position | RTK | Shall have individual images tagged with RTK position information (x,y,z) |
Camera position | IMU | Shall have IMU data for camera position at each capture event |
Weather information | Weather station |
Sensor Requirements
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Key
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Summary
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Specification
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Allowable Limits
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Status
Incident light information | Light sensor | Shall have incident light sensor positioned near camera |
M.5.0
RTK
Shall have individual images tagged with RTK position information (x,y,z)
+/- 3 cm
M.6.0
IMU
Shall have IMU data for camera position at each capture event