Table 3 3D vision based phenotyping methods

Local surface features on point clouds

Dey et al. [33]

Structure from motion

Grapevine

Classification of 3D points into leaves, branches, and fruit (red)

Eigenvalues of local covariance matrix, SVM, CRF

Li et al. [25]

Structured light scanner

Anthurium, Dishlia, Dancing bean

Leaf/stem segmentation for tracking events in time like budding and bifurcation

Local point features, MRF

Paulus et al. [28]

3D laser scanner

Grapevine, Wheat

Leaf/stem segmentation for grapevine

Local point features (FPFH), SVM, Region growing

Paulus et al. [35]

3D laser scanner

Barley

Leaf/stem segmentation for leaf area and stem height estimation

Local point features (FPFH), SVM, Region growing

Wahabzada et al. [30]

3D laser scanner

Grapevine, Wheat, Barley

Segmentation of leaf, stem, ear, and fruit parts

Local point features (FPFH), clustering, Region growing

Sodhi et al. [26]

Multi-view stereo & Kinect

Sorghum

Leaf/stem segmentation

Local point features (FPFH), SVM, CRF

Elnashef et al. [36]

Multi-view stereo

Corn, Cotton, Wheat

Leaf/stem segmentation

Eigenvalues of the second tensor

Local features on volumetric models

Klodt et al. [37]

Multi-view stereo

Barley

Leaf/stem segmentation for the estimation of volume and surface area of the plant and the number of leaves

Eigenvalues of the second-moments tensor

Goldbach et al. [38]

Shape-from-silhouette

Tomato seedling

Leaf/stem segmentation for leaf length, width and area estimation

Breath-first flood-fill algorithm with a 26-connected neighbourhood

Spectral clustering

Hétroy-Wheeler et al. [39]

Laser scanner

Tree seedlings

Segmentation of stems, leaves, and petioles for leaf surface area estimation

Graph construction, spectral embedding and clustering

Santos et al. [40]

Structure from motion

Sunflower, soybean

Leaf/stem segmentation for leaf surface area estimation

Graph construction, spectral embedding and clustering

Geometric primitives

Binney and Sukhatme [31]

2D laser scanner

Tree branch

Segmentation of leaves and branches for estimation of branch locations, angles, radii, and lengths, and connectivity information between branches

Generative models for branches and branchpoints

Paproki et al. [41]

Multi-view stereo

Cotton

Stem, petiole and leaf segmentation for estimation of geometric properties such as stem height, leaf height and inclination angle

Region growing, tubular shape-fitting, clustering

Chaivivatrakul et al. [32]

Time of Flight

Corn

Leaf/stem segmentation for stem diameter, leaf length, area, and angle estimation

Stem extraction by ellipse fitting and linking, and elliptical cylinder extrusion

Gélard et al. [34]

Structure from motion

Sunflower

Stem, petiole and leaf segmentation for leaf area estimation

Ring climbing for extraction of stems and petioles, clustering for segmenting leaves