| Page Properties | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
Assumptions
The Image Aquisition System will be a payload on the BenchBot, and can rely on the BenchBot meeting its stated requirements.
...
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.
Table of Contents
Introduction
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
S.2.0 - Power
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.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.
...
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.
...
.
As Chris has pointed out in the comments, the above revolve around the need for an artificial dominant light source. Another consideration is that of depth of field. The current system, when running the AR400 at full power, allows for an aperture at F11, with ISO=100 and shutter speed=1/200 sec. If, for the sake of increased depth of field, we would like to increase the F-number from F11 to F16, that will increase the flash output requirements by a factor of 2, given that we remain at base ISO.
Another way to increase the applied light onto the plants is by changing the flash distance. As it is setup today, the flash is 1.65 meters above the potting area to provide a close to even illumination of the plants within the supported plant heights. As a flash distance is decreased, more light will be applied to the potted plants, but the light distribution from the top of the plant to lower parts will worsen. Another way to increase the applied light, while maintaining the light distribution, is by focusing the emitted light from the flash either using a reflector or a different light source.
Requirements Table
Id | Requirement name | Description | Category | Allowable Limits | Status | Justification |
|---|
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 | |||
D.7 | Plant width | Shall support plant widths up to 24 inch diameters (nice to have up to 30 inches) | 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 |
1.4
Sensor size
Minimum 15 cm | ||||
IQ.10 | Color temperature | The color temperature shall be consistent | Image Quality | +/- 200K |
IQ. |
Sensor type
1.8
File type
Shall output RAW and JPG files
Image Quality
11 | Color rendering index | Image Quality | 90 or greater |
1.7
Pixel size
Image Quality
M.1 | 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 |
Shall have a method for ensuring |
Emergent design properties
...
S.1.0
...
Auto focus
...
should be designed to
...
S.2.0
...
S.3.0
...
S.4.0
Image Capture Requirements
...
Key
...
Summary
...
Specification
...
Allowable Limits
...
Status
...
IC.1.0.0
...
Y position
...
Shall have the ability of the Y camera slider to stop in certain positions
Speed and Throughput Requirements
...
Key
...
Summary
...
Specification
...
Allowable Limits
...
Status
...
ST.1.0.0
...
Image throughput
...
ST.2.0.0
...
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
M.4.0
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
...
Key
...
Summary
...
Specification
...
Allowable Limits
...
Status
Incident light information | Light sensor | Shall have incident light sensor positioned near |
M.5.0
RTK
Shall have individual images tagged with RTK position information (x,y,z)
+/- 3 cm
M.6.0
IMU
camera |
M.7.0
Out of Scope
Goal: Industrial camera, auto focus, global shutter