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\begin{document}

\title{TerraSentia: Turnkey Autonomous Multi-Sensor UGV Platform for High
Throughput Crop Phenotyping}



\author[1]{Girish Chowdhary}%
\author[1]{Chinmay Soman}%
\author[1]{Thomas Aref}%
\author[1]{Michael McGuire}%
\affil[1]{Affiliation not available}%


\vspace{-1em}



  
  \date{May 23, 2024}


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\begin{abstract}
Autonomous robot platforms are increasingly being explored as a solution
to critical problems in agriculture and in particular high-throughput
field-phenotyping for crop-improvement. However, deploying autonomous
vehicles in agricultural settings requires developing a complicated
technology stack, including a robust hardware platform, reliable
autonomy, multi-sensor recording, advanced analytics algorithms, and a
data visualization and management pipeline. Without a robust platform in
place, agricultural researchers and companies often have no choice but
to develop their own robot from scratch. To address this problem
EarthSense has developed the TerraSentia platform, capable of end-to-end
autonomous data collection and high-precision high-throughput
phenotyping in multiple crops. Our TerraSentia platform is capable of
autonomous navigation using a planar LiDAR (sweeping horizontally),
cameras, GPS, and IMU. It is equipped with four high-definition RGB
cameras and a second planar LiDAR (sweeping vertically) for measuring
phenotypes. A second UGV model, the TerraSentia+, supports more powerful
drivetrain, on-board compute systems, and the ability to modularly
configure the sensor stack. Furthermore, EarthSense has developed
algorithms for estimating multiple key phenotypes with state-of-the-art
precision, including corn plant height, corn ear height, corn stem
width, corn nitrogen deficiency, Leaf Area Index (LAI), and soybean pod
count. These algorithms are available to users out-of-the-box. Our
system has provided estimates for many of these traits on thousands of
experimental units over the last 2 years, with a steadily-improving rate
of 2700 meters between interventions. {}%
\end{abstract}%



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\textbf{Hosted file}

\verb`EarthSense-2023-NAPPN-abstract-submission.docx`  available at \url{https://authorea.com/users/678603/articles/678391-terrasentia-turnkey-autonomous-multi-sensor-ugv-platform-for-high-throughput-crop-phenotyping}

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