title: 3D Surface Reconstruction of Plant Seeds by Volume Carving: Performance and Accuracies.
abstract: We describe a method for 3D reconstruction of plant seed surfaces, focusing on small seeds with diameters as small as 200 μm. The method considers robotized systems allowing single seed handling in order to rotate a single seed in front of a camera. Even though such systems feature high position repeatability, at sub-millimeter object scales, camera pose variations have to be compensated. We do this by robustly estimating the tool center point from each acquired image. 3D reconstruction can then be performed by a simple shape-from-silhouette approach. In experiments we investigate runtimes, theoretically achievable accuracy, experimentally achieved accuracy, and show as a proof of principle that the proposed method is well sufficient for 3D seed phenotyping purposes.
authors.affiliation: Institute of Bio- and Geo-sciences, IBG-2: Plant Sciences, Forschungszentrum Jülich GmbH Jülich, Germany.
authors.forename: Johanna
authors.initials: J
authors.lastname: Roussel
authors.affiliation: Institute of Bio- and Geo-sciences, IBG-2: Plant Sciences, Forschungszentrum Jülich GmbH Jülich, Germany.
authors.forename: Felix
authors.initials: F
authors.lastname: Geiger
authors.affiliation: Institute of Bio- and Geo-sciences, IBG-2: Plant Sciences, Forschungszentrum Jülich GmbH Jülich, Germany.
authors.forename: Andreas
authors.initials: A
authors.lastname: Fischbach
authors.affiliation: Institute of Bio- and Geo-sciences, IBG-2: Plant Sciences, Forschungszentrum Jülich GmbH Jülich, Germany.
authors.forename: Siegfried
authors.initials: S
authors.lastname: Jahnke
authors.affiliation: Institute of Bio- and Geo-sciences, IBG-2: Plant Sciences, Forschungszentrum Jülich GmbH Jülich, Germany.
authors.forename: Hanno
authors.initials: H
authors.lastname: Scharr
keywords: Arabidopsis; automated seed handling; image processing; performance analysis; silhouette