Figure 3.

This demonstrates GRover’s ability through the LMS-400 to capture diverse features of vine growth. This includes minimally pruned vines (a,b) and spur-pruned vines trained to a two-wire vertical trellis (c,d); right panels are the LiDAR scans that were produced from the use of GRover. Pictures of GRover in the field taking the scans are to the left. All scans are shown after they were pre-processed according to the steps outlined in Figure 2. Both panels show the 3D point cloud produced and relative intensity of each point from the scan. Note how the intensity of the LiDAR return allows for visual distinctions between wood, leaf and even leaves at different phenological stages. The blue points, green leaf tissue (d), have the lowest intensity values and are the least reflected. Active, photosynthetic leaf tissue absorbs much more red light (d) than older senescent, yellow leaves (c) or woody tissue (b,d) which appear green (b,d). The brown soil and the identification tags on the posts in 3d are the most reflective objects and appear red.