Daniel Queirós Silva

Abstract
To tackle wildfires and improve forest biomass management, cost effective and reliable mowing and pruning robots are required. However, the development of visual perception systems for forestry robotics needs to be researched and explored to achieve safe solutions. This paper presents two main contributions: an annotated dataset and a benchmark between edge-computing hardware and deep learning models. The dataset is composed by nearly 5,400 annotated images. This dataset enabled to train nine object detectors: four SSD MobileNets, one EfficientDet, three YOLO-based detectors and YOLOR. These detectors were deployed and tested on three edge-computing hardware (TPU, CPU and GPU), and evaluated in terms of detection precision and inference time. The results showed that YOLOR was the best trunk detector achieving nearly 90% F1 score and an inference average time of 13.7ms on GPU. This work will favour the development of advanced vision perception systems for robotics in forestry operations.

Abstract
The efficiency of agricultural practices depends on the timing of their execution. Environmental conditions, such as rainfall, and crop-related traits, such as plant phenology, determine the success of practices such as irrigation. Moreover, plant phenology, the seasonal timing of biological events (e.g., cotyledon emergence), is strongly influenced by genetic, environmental, and management conditions. Therefore, assessing the timing the of crops' phenological events and their spatiotemporal variability can improve decision making, allowing the thorough planning and timely execution of agricultural operations. Conventional techniques for crop phenology monitoring, such as field observations, can be prone to error, labour-intensive, and inefficient, particularly for crops with rapid growth and not very defined phenophases, such as vegetable crops. Thus, developing an accurate phenology monitoring system for vegetable crops is an important step towards sustainable practices. This paper evaluates the ability of computer vision (CV) techniques coupled with deep learning (DL) (CV_DL) as tools for the dynamic phenological classification of multiple vegetable crops at the subfield level, i.e., within the plot. Three DL models from the Single Shot Multibox Detector (SSD) architecture (SSD Inception v2, SSD MobileNet v2, and SSD ResNet 50) and one from You Only Look Once (YOLO) architecture (YOLO v4) were benchmarked through a custom dataset containing images of eight vegetable crops between emergence and harvest. The proposed benchmark includes the individual pairing of each model with the images of each crop. On average, YOLO v4 performed better than the SSD models, reaching an F1-Score of 85.5%, a mean average precision of 79.9%, and a balanced accuracy of 87.0%. In addition, YOLO v4 was tested with all available data approaching a real mixed cropping system. Hence, the same model can classify multiple vegetable crops across the growing season, allowing the accurate mapping of phenological dynamics. This study is the first to evaluate the potential of CV_DL for vegetable crops' phenological research, a pivotal step towards automating decision support systems for precision horticulture.

Abstract
The world wine sector is a multi-billion dollar industry with a wide range of economic activities. Therefore, it becomes crucial to monitor the grapevine because it allows a more accurate estimation of the yield and ensures a high-quality end product. The most common way of monitoring the grapevine is through the leaves (preventive way) since the leaves first manifest biophysical lesions. However, this does not exclude the possibility of biophysical lesions manifesting in the grape berries. Thus, this work presents three pre-trained YOLO models (YOLOv5x6, YOLOv7-E6E, and YOLOR-CSP-X) to detect and classify grape bunches as healthy or damaged by the number of berries with biophysical lesions. Two datasets were created and made publicly available with original images and manual annotations to identify the complexity between detection (bunches) and classification (healthy or damaged) tasks. The datasets use the same 10,010 images with different classes. The Grapevine Bunch Detection Dataset uses the Bunch class, and The Grapevine Bunch Condition Detection Dataset uses the OptimalBunch and DamagedBunch classes. Regarding the three models trained for grape bunches detection, they obtained promising results, highlighting YOLOv7 with 77% of mAP and 94% of the F1-score. In the case of the task of detection and identification of the state of grape bunches, the three models obtained similar results, with YOLOv5 achieving the best ones with an mAP of 72% and an F1-score of 92%.

Abstract
Object identification, such as tree trunk detection, is fundamental for forest robotics. Intelligent vision systems are of paramount importance in order to improve robotic perception, thus enhancing the autonomy of forest robots. To that purpose, this paper presents three contributions: an open dataset of 5325 annotated forest images; a tree trunk detection Edge AI benchmark between 13 deep learning models evaluated on four edge-devices (CPU, TPU, GPU and VPU); and a tree trunk mapping experiment using an OAK-D as a sensing device. The results showed that YOLOR was the most reliable trunk detector, achieving a maximum F1 score around 90% while maintaining high scores for different confidence levels; in terms of inference time, YOLOv4 Tiny was the fastest model, attaining 1.93 ms on the GPU. YOLOv7 Tiny presented the best trade-off between detection accuracy and speed, with average inference times under 4 ms on the GPU considering different input resolutions and at the same time achieving an F1 score similar to YOLOR. This work will enable the development of advanced artificial vision systems for robotics in forestry monitoring operations.

Abstract
The development of robotic solutions in unstructured environments brings several challenges, mainly in developing safe and reliable navigation solutions. Agricultural environments are particularly unstructured and, therefore, challenging to the implementation of robotics. An example of this is the mountain vineyards, built-in steep slope hills, which are characterized by satellite signal blockage, terrain irregularities, harsh ground inclinations, and others. All of these factors impose the implementation of precise and reliable navigation algorithms, so that robots can operate safely. This work proposes the detection of semantic natural landmarks that are to be used in Simultaneous Localization and Mapping algorithms. Thus, Deep Learning models were trained and deployed to detect vine trunks. As significant contributions, we made available a novel vine trunk dataset, called VineSet, which was constituted by more than 9000 images and respective annotations for each trunk. VineSet was used to train state-of-the-art Single Shot Multibox Detector models. Additionally, we deployed these models in an Edge-AI fashion and achieve high frame rate execution. Finally, an assisted annotation tool was proposed to make the process of dataset building easier and improve models incrementally. The experiments show that our trained models can detect trunks with an Average Precision up to 84.16% and our assisted annotation tool facilitates the annotation process, even in other areas of agriculture, such as orchards and forests. Additional experiments were performed, where the impact of the amount of training data and the comparison between using Transfer Learning and training from scratch were evaluated. In these cases, some theoretical assumptions were verified.