The Image Aquisition System will be a payload on the BenchBot and this document will not re-state requiermernts for the BenchBot Bench Bot v3 Concept Design - BenchBot - Confluence (atlassian.net)
Success metrics
Goal: Automated high throughput collection of high resolution images and associated metadata.
Objectives:
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.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.
Image Quality Requirements
Id | Requirement name | Description | Category | Allowable Limits | Status |
|---|---|---|---|---|---|
1.1 | Image quality | Shall exceed state-of-the-art image quality standards to align with future use cases and camera systems. | Image Quality | ||
1.2 | Image Resolution | Shall meet the allowable limits for GSD (Ground Sample Distance) | Image Quality | 9.1 pixels per mm (emergence) 5.9 pixels per mm (late growth stage) | |
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 | |||
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.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 Interface | ||
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 weather data information for each run captured from weather station | Metadata | |||
Weather station | Shall have a weather station | Metadata | |||
Light sensor | Shall have incident light sensor positioned near camera | Metadata | |||
Shall allow the user to enter metadata | User Interface | ||||
Shall allow the user to share data | User Interface | ||||
Shall allow the user to control the bot | User Interface | ||||
Shall allow the user to change camera settings | User Interface | ||||
Shall allow the user to trigger camera independently | User Interface | ||||
Camera position | Shall provide camera position and orientation | Metadata | +/- 1 cm +/- 1o |
Emergent design properties
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 |
Sensor Requirements
Key | Summary | Specification | Allowable Limits | Status |
|---|---|---|---|---|
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 | 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 | ||
M.7.0 |
Assumptions
This will be mounted to the end effector of an X, Y, Z gantry on the new BenchBot.
The BenchBot will be able to position this system to an accuracy of +/- 1 cm.
This system will request positions from the BenchBot and can trust it was accurately reached.
Out of Scope
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