3-D Soil Compaction Mapping Through Kriging-Based Exploration With a Mobile Robot

@article{Fentanes20183DSC,
  title={3-D Soil Compaction Mapping Through Kriging-Based Exploration With a Mobile Robot},
  author={Jaime Pulido Fentanes and Iain J. Gould and Tom Duckett and Simon Pearson and Grzegorz Cielniak},
  journal={IEEE Robotics and Automation Letters},
  year={2018},
  volume={3},
  pages={3066-3072}
}
This letter presents an automated method for creating spatial maps of soil condition with an outdoor mobile robot. Effective soil mapping on farms can enhance yields, reduce inputs, and help protect the environment. Traditionally, data are collected manually at an arbitrary set of locations, then soil maps are constructed offline using kriging, a form of Gaussian process regression. This process is laborious and costly, limiting the quality and resolution of the resulting information. Instead… CONTINUE READING

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