Device and method for recording a plant or plant material for 3D reconstruction in time

Abstract

The disclosure relates a device for recording a plant or plant material. The device comprises a support for supporting the plant or plant material, and an adjustable camera unit arranged for acquiring images of the plant or plant material supported by the support. The camera unit is mounted to a movable frame and movable therewith relative to the support to acquire the images of the plant or plant material from different relative positions.

Description

[0001] Title: Device and method for recording a plant or plant material for 3D reconstruction in time

[0002] FIELD

[0003] The disclosure generally relates to devices and methods for recording a plant or plant material, particularly for obtaining a digital time-varying three-dimensional model of the plant or plant material.

[0004] BACKGROUND

[0005] Studying development of biological samples can be a labor intensive and time intensive affair. In general, it involves controlled cultivation of a biological sample, and regularly observing, logging, and analysing the sample during its development.

[0006] Automatic monitoring and phenotyping systems are known for monitoring growth stages of plants in agricultural settings for the purpose of optimising growth conditions to increase yield, for example, from US20 17 / 0053168. Other such systems are known for their specific configurations that allow crop phenotyping, for example, as disclosed in CN 13301265. In general, the systems take photographs of the plants and automatically determine phenotypical attributes of the plants based on the image data from the photographs. While such known systems are suitable for general phenotyping of plants with high throughput, they are impractical for detailed studies, reconstruction and modelling, for example, of plant development over time.

[0007] SUMMARY

[0008] It is an objective to propose a system and a method for automatic recording development of a plant or plant material, particular for obtaining a digital model of the development of the plant or plant material. It is a further particular objective to propose a system and method for monitoring gene expression in a plant or plant material. In a more general sense, it is an objective to overcome or reduce at least one of the disadvantages of the prior art. It is also an objective to provide alternative solutions that are less cumbersome in assembly and operation, and which moreover can be made relatively inexpensively. Alternatively, it is an objective to at least provide a useful alternative.

[0009] An aspect provides a device for recording a plant or plant material, such as a plant. The device comprises a support, preferably a stationary support, for supporting the plant or plant material, and a movably adjustable camera unit arranged for acquiring images of the plant or plant material supported by the support. The camera unit is mounted to a movable frame and movable, preferably movable by rotation, therewith relative to the support to acquire the images of the plant or plant material from different relative positions. The device also comprises a background screen mounted to the movable frame in a positional relation, preferably a fixed positional relation, opposite to the camera unit for being moved along with the frame in synchrony with the camera unit. The device can, for example, be used for monitoring a development of the plant or plant material from various angles. The device particularly enables recording of the development of the plant or plant material in three dimensions, and furthermore in a fully automated way. The device may be configured for autonomously moving the camera unit relative to the plant or plant material, being supported by the support, along a predefined trajectory, while acquiring images of the plant or plant material. The acquired images can be stored for later use, for example, for creating a time-lapse video that visualizes the development of the plant or plant material over time.

[0010] While the camera unit can be moved relative to the support to acquire images, particularly polarized images, of the plant or plant material from different relative positions, the background screen is moved in synchrony with the camera unit at an opposite side of the support to provide a constant predefined background to the images. Processing of the acquired images, particularly the determination of an outer contour of the plant or plant material, can accordingly be facilitated. Based on the acquired images, a digital three-dimensional model of the plant or plant material may be determined, for creating a virtual object of the plant or plant material isolated from the background. The synchronously moving background screen improves the automatic detection of the outer contour of the plant or plant material in the acquired images, thus improving the quality of the digital three-dimensional model and the virtual object.

[0011] The support is preferably stationary to keep the plant or plant material stationary at least during image acquisition, and preferably at all times. Movement of the plant or plant material affects its development, which is often undesirable, and can also jeopardize or complicate the image acquisition and any subsequent processing of the images.

[0012] Optionally, the support is provided with a diffusely reflective support face, particularly a uniform non-green colored matte support face. It has been found that a support having a uniform blue-colored matte support face provides adequate contrast between most plant or plant materials, which facilitates automatic detection of an outer contour of the plant or plant material in the acquired images. Hence, the support may preferably be provided with a uniform blue-colored matte support face.

[0013] The frame may define a cultivation space for cultivating the plant or plant material, wherein the camera unit may be movable around the cultivation space to view the plant or plant material from different angles.

[0014] It will be appreciated that the invention described herein, particularly the aspects, may be applied to any macroscopic biological entity, including plant or plant material, but also other organisms or parts thereof, such as fungi, animals, humans, or parts thereof. In particular, the plant or plant material may be a living plant or plant material, including for example, plant organs. The device may particularly be configured for recording developmental processes of such plant or plant material on a relatively large time scale that is difficult or impractical to observe by the naked human eye, such as developmental processes spanning several hours, days, weeks or months. The device may acquire multiple sets of images of the plant or plant material over time, for determining a time-lapse sequence of the plant or plant material, e.g. for obtaining and / or improving a digital time-varying three-dimensional model (i.e. a digital four-dimensional model) of the plant or plant material.

[0015] Optionally, the device comprises a processing unit configured for receiving the acquired images and reconstructing, based on said images, a digital three-dimensional model of the plant or plant material or a digital four- dimensional model of the plant or plant material. The digital three-dimensional model or the digital four-dimensional model, in particular the digital four-dimensional model, may be used to gain insights into the development of the plant or plant material in response to particular environmental stimuli, such as for optimizing cultivation conditions.

[0016] Optionally, the processing unit is configured for creating a virtual object based on the digital three-dimensional model of the plant or plant material or the digital four-dimensional model of the plant or plant material, in particular the digital four-dimensional model of the plant or plant material, and augmenting a virtual-world scene or a real-world scene with the virtual object. The digital time-varying three-dimensional model can for instance be used to simulate a growth of a plant, such as for computer games.

[0017] Optionally, the device comprises a control unit, configured for controlling the movement of the frame relative to the support. The control unit may be configured to control operation of an electric motor for driving the frame, e.g. to drive the frame within a predetermined movement range. The control unit is optionally configured to control operation of the camera unit, particularly in dependence of a positional parameter of the frame, such as an angular position about a vertical pivot axis. The control unit may be operatively connected to a position sensor for measuring a relative position of the frame or any component mounted thereto. The control unit is preferably configured to control the camera unit such as to acquire images of the plant or plant material at a set of predetermined positions within a predetermined movement range of the frame. Each acquired image can hence be associated with a position of the camera unit at which the image was acquired. The control unit may comprise a memory for storing a computer program product comprising instructions which, when executed by a processor of the control unit, cause the control unit to control the drive unit to movement of the frame relative to the support and to control the camera unit to acquire images of the plant or plant material at predefined relative positions of the frame.

[0018] The device optionally comprises a fluorescence excitation light source arranged for exposing the plant or plant material to light in a fluorescence excitation spectrum. Fluorescence imaging may hence be performed with the device. Fluorescent markers and / or dyes in the plant or plant material may be excited by the fluorescence excitation light, for fluorescence imaging of the plant or plant material, thus allowing to experimentally observe dynamics of gene expression, protein expression, and molecular interactions in the plant or plant material. It will be appreciated that various fluorescent markers can be used, such as fluorescent protein including but not limited to GFP, YFP, CFP, eGFP, eYFP, eCFP, RFP, and variants thereof.

[0019] For fluorescent detection, specifically fluorescent protein detection, the acquired images of the plant or plant material may be post-processed, e.g. using digital filters and / or optical filters. Optionally, the device comprises a fluorescence optical filter to filter-out excitation light. The fluorescence optical filter is hence configured to pass through fluorescent light originating from the plant or plant material, while attenuating excitation hght. The optical filter is particularly connected to the frame, particularly to the camera unit, and configured for being selectively movable relative to the camera unit between a first position in which the optical filter is arranged in an optical path between the plant or plant material and the camera unit and a second position in which the optical filter is arranged out of said optical path. Each camera of the camera unit may preferably be provided with a respective optical filter element, e.g. a filter lens, of the optical filter.

[0020] Fluorescence images may be acquired in both the forward and return paths of the camera unit, or optionally in either the forward path or the return path. Preferably, fluorescence images are acquired in one path, such as the forward path, and visible spectrum images in the opposite path, such as the return path, thereby allowing for enhanced imaging versatility.

[0021] The camera unit may include a plurality of cameras, particularly so arranged relative to one another to have overlapping field of views. The cameras of the camera unit may in use be operated synchronously, e.g. the cameras may simultaneously image the plant or plant material from their respective viewpoint. The set of images acquired from the plurality of cameras may be processed, for example, to be combined for creating a digital three-dimensional model of the plant or plant material. The cameras of the array may be arranged in a fixed relative positional relation to one another while acquiring the images.

[0022] Optionally, the camera unit includes an array of cameras that extends in a vertical direction, and wherein the camera unit is movable relative to the support between the different relative positions in a horizontal direction. The camera unit may comprise two, three, four, five, six, seven or more cameras, that may be arranged in a vertically extending array. In particularly, the array of cameras may include a single column of cameras, in which the cameras are arranged one above the other. By moving the vertically extending array of cameras in the horizontal direction, a large part of the plant or plant material can be imaged.

[0023] Optionally, the camera unit, particularly the array of cameras, includes one or more polarized flash units preferably directed towards the plant or plant material, which may be individually adjustable. In particular, the camera unit may include at least one polarized flash unit per camera, with each flash unit preferably mounted in parallel to a respective camera. The one or more polarized flash units may be pivotably adjustable about a horizontal axis and / or translatably adjustable along a vertical axis. By combining one or more polarized flash units with, for example, a polarizing filter element, reflections from the plant or plant material may be reduced, thereby improving three-dimensional reconstruction or four-dimensional modeling.

[0024] Optionally, the camera unit includes one or more polarizing filter elements, such as a polarizing filter or a polarized lens. The element, particularly being a polarizing filter, may be configured to be selectively movable relative to the camera unit between a first position, where the element is arranged in an optical path between the plant or plant material and the camera unit, and a second position, where the element is arranged out of said optical path. Preferably, each camera of the camera unit may be provided with a polarizing filter element, which may differ from the polarizing filter element of another camera, allowing for image capture from various angles or polarization orientations. In the case where the polarizing filter element is a polarized lens, one or more cameras of the camera unit may be equipped with a polarized lens, particularly each camera may have a polarized lens.

[0025] Optionally, the camera unit is pivotally movable between the different relative positions along an arcuate path about the support. The plant or plant material can hence be imaged from different angles. Optionally, the camera unit is pivotally movable about a vertical pivot axis that coincides with the support. The camera unit may hence be revolved about the support, particularly at a constant radius from the support.

[0026] Optionally, the camera unit is mounted to the frame at two or more points, particularly allowing the movement of the camera unit as described in this disclosure, especially a pivoting motion. The points may be rotational, or pivotal, points. Multiple -point mounting not only enhances stability but also facilitates efficient routing of wires for electrical components. Preferably, the camera unit is mounted to the frame at two points, such as at the uppermost portion of the camera unit and the other at its lowermost portion. Hence, the camera unit may be dual-point mounted to the frame, preferably allowing the camera unit to be (pivotally) movable relative to the support. Specifically, the wires of the electrical components, including those connected to the camera unit, may be guided through the top mounting point and / or bottom mounting point, with the wires possibly being housed in a movable unit that also acts as a guide system when the camera unit is set in motion. This dual-point mounting configuration ensures that the wires are kept isolated from the plant or plant material, preventing any contact that could lead to damage or interference. By routing the wires in this manner, a clean and safe operational environment is maintained, ensuring both electrical safety and unhindered plant development.

[0027] Optionally, the camera unit is pivotally movable relative to the support at a constant radius from the support, particularly within an angular range of less than 360 degrees, such as approximately 330 degrees. By refraining from a full rotation of 360 degrees around the support, control of the rotation can be facilitated, for example, as an absolute reference position of the camera unit can be set and detected, without having to detect and compensate for full rotations of the camera. The camera unit may hence be pivoted back and forth within the angular range. Images may be acquired in both the forward path and the return path, or in either one of the forward path and the return path. The camera unit may particularly be pivotally movable relative to the support at a constant radius from the support, within an angular range that corresponds to at most 360 degrees minus a viewing angle of the camera unit.

[0028] Optionally, the camera unit includes at least two cameras with overlapping field of views. Adjacently arranged cameras preferably have overlapping field of views. Overlapping field of views facilitates automatic calibration of the system.

[0029] Optionally, an orientation of each camera of the camera unit relative to the frame is individually adjustable, particularly pivotably about a horizontal adjustment axis and / or translatably about along a vertical adjustment axis.

[0030] Optionally, the background screen has an arcuate shape that curves, preferably at a constant radius, about a vertical axis coinciding with the support. The background screen may hence be at a substantially constant distance from the support and the plant or plant material supported thereby.

[0031] Optionally, the background screen has an arcuate shape that curves at a constant radius about a vertical axis coinciding with the camera unit. The background screen may hence be at a constant distance from the camera unit.

[0032] The background screen may arc, e.g. part-circular, such as semicircular, about the vertical axis in a horizontal plane, and extend substantially parallel to the vertical axis in the vertical direction.

[0033] The background screen may be configured so as to allow for uniform image capture from all angles, providing an uninterrupted, smooth surface that enhances imaging quality by minimizing reflections or other visual distortions that could interfere with the captured data. The background screen may also be configured to complement the field of view of each camera, ensuring comprehensive background coverage.

[0034] Optionally, the background screen is provided with a diffusely reflective background face, particularly a uniform non-green colored matte background face. It has been found that a background screen having a uniform blue-colored matte background face provides adequate contrast between most plant or plant materials, particularly plants, which facilitates automatic detection of an outer contour of the plant or plant material in the acquired images. Hence, the background screen may preferably be provided with a uniform blue-colored matte background face.

[0035] The device optionally comprises a background illumination light source coupled to the frame in a fixed positional relation to the background screen and so arranged for illuminating the background screen. It has been found that illumination of the background screen improves automatic detection of an outer contour of the plant or plant material in the acquired images and subsequent isolation of the plant or plant material from the background. The background illumination light source is preferably a dedicated light source for illuminating the background screen, e.g. separate from an optional object illumination light source for illuminating the plant or plant material.

[0036] Optionally, the background illumination light source includes a first array of at least one light source arranged at a first edge of the background screen and a second array of at least one light source arranged at a second edge of the background screen opposite the first edge, the first array and the second array configured for directing fight toward the background screen substantially tangential to the background screen. The first array and the second array may hence be configured for directing light past the plant or plant material, to prevent directly illuminating the plant or plant material. The first array and the second array are preferably arranged outside a field of view of the camera unit. Optionally, the device comprises an enclosure, enclosing a chamber in which the frame and the support are provided. The enclosure may particularly be a light-shielding enclosure so as to block ambient light from entering the chamber and illuminating the plant or plant material, thus preventing external illumination of the plant or plant material. The enclosure may not only block ambient light but may also shield the plant or plant material from other environmental disturbances, such as temperature fluctuations, humidity variations, and air currents, thereby creating a controlled environment. The chamber in which the plant or plant material is provided is preferably entirely enclosed by the enclosure to shield the plant or plant material from all sides.

[0037] The enclosure may not only isolate the plant or plant material from external influences, but it may also allow for repeatable and accurate measurements, making it ideal for controlled experiments and monitoring of the plant or plant material. Hence, the enclosure may preferably be configured to provide a controlled environment that is ideal for particularly plant growth and for image acquisition of a plant or plant material.

[0038] For facilitating automatic calibration, the support is optionally provided with one or more optical calibration markers configured for being automatically detectable in the acquired images. The calibration markers may have predetermined shape and size, and optionally a predetermined spatial coordinate with respect to reference. A relative spatial relation between the camera unit and the support can be determined based on an image in which the calibration marker is visible and knowledge of the actual shape and size of the calibration maker. For instance, based on a difference between the predetermined shape and size of the actual calibration maker and the shape and size of the imaged calibration marker, the relative spatial relation can be determined, such as a distance between the calibration marker and the camera unit and a viewing angle of the camera unit. This relative spatial relation allows for determining accurate position and orientation of the plant or plant material, relative to the calibration markers, as well as for determining accurate dimensions of the plant or plant material.

[0039] Optionally, the device comprises a nutrient supply line extending from a nutrient supply to the support, the supply line being arranged for allowing the plant to be supplied with a nutrient without impeding movement of the frame relative to the support. The supply line is particularly uncoupled to the frame, allowing unobstructed movement of the camera unit. The supply line may extend underneath the frame, for supplying nutrients to the plant or plant material from below, while maintaining clear access to the plant or plant material for other functions such as imaging. The device may also include a drainage line, which may extend parallel to the supply line, facilitating efficient removal of excess water or nutrients.

[0040] Optionally, the device comprises a nutrient delivery system for delivering nutrients, including water as a nutrient, to the plant or plant material. The system is configured so as not to impede movement of the frame relative to the support, obstruct image acquisition, or interfere with the overall operation of the device. The delivery system may preferably be automated and programmable. The delivery system particularly comprises a nutrient supply line, and preferably comprises a nutrient supply line and a drainage line. Hence, the nutrient delivery system may also be configured to operate as a drainage system, in which case the nutrient supply and drainage are preferably configured to operate in tandem to maintain a desired nutrient and / or moisture balance.

[0041] Optionally, the device comprises an airflow system for ventilating and / or temperature control. The airflow system allows ventilation and temperature control, contributing to the overall condition and development of the plant or plant material. The system may also prevent the buildup of excess humidity, promoting a balanced environment that supports plant growth without causing stress or disrupting other processes. The airflow system is particularly configured to avoid interference with processes such as imaging, nutrient delivery, or other possibly automated processes. It may comprise one or more programmable fans, which particularly allow for fine-tuned control of airflow rates and directions. These fans may be positioned in strategic locations within the device, preferably in the chamber described in this disclosure, to ensure even airflow distribution across the plant or plant material, thereby enhancing uniform growth and maintaining stable environmental conditions. The programmability of the fans enables automated adjustment of airflow intensity and patterns based on pre-defined conditions or real-time monitoring data, ensuring optimal temperature and ventilation are maintained throughout the entire development and imaging period. This helps to reduce the risk of temperature fluctuations or stagnant air, which could otherwise compromise plant health or image quality.

[0042] Optionally, the device comprises one or more stationary, and / or movable, light sources for illuminating the plant or plant material with photosynthetically active radiation. It will be appreciated that photosynthetically active radiation designates a spectral range of radiation that photosynthetic organisms are able to use in the process of photosynthesis, generally designating a spectral range of 400-740 nanometers (nm), or any sub-range thereof. For example, the device may comprise one or more of the following light sources: a light source capable of emitting light in the range of 400-700 nm, a light sources capable of emitting light in the range of 450-495 nm, and a light source capable of emitting light in the range of 700-800 nm, particularly 700-750 nm. The stationary or movable light sources may hence allow culturing of photosynthesis organisms, such as plants on the support. The device may include one or more light sources strategically positioned to provide uniform illumination, thereby ensuring optimal light exposure for the plant or plant material. These light sources may be independently controlled or programmed to adjust light intensity, spectrum, or duration, allowing for precise environmental control tailored to the specific needs of the plant or plant material.

[0043] Optionally, the device comprises an object illumination light source mounted to the frame in a fixed positional relation to the camera unit for illuminating the plant or plant material during image acquisition. The object illumination light source may comprise one or more flashlights, e.g. emitting flashes of white light suitably timed with the image acquisitions.

[0044] Another aspect provides a method for recording a time-varying object over time, such as a plant or plant material, such as a plant, using a device as described hereinabove.

[0045] The method optionally comprises acquiring images of the object with the camera unit from different relative positions and reconstructing a digital three-dimensional model of the object based on the acquired images.

[0046] Optionally, the method comprises supporting the object by the support, preferably stationary, and at a first time instant, acquiring with the camera unit a first set of images, particularly a first set of polarized images, of the object from different relative first positions by moving the camera unit relative to the object between said different relative first positions. The method further comprises, at a second time instant, spaced in time from the first time instant, acquiring with the camera unit a second set of images, particularly a second set of polarized images, of the object from different relative second positions by moving the camera unit relative to the object between said different relative second positions. The method comprises constructing a digital time-varying three-dimensional model based on the first set of images and the second set of images representing a change of the object over time. The first set of images and the second set of images can capture the object at two different time instances, wherein the time-varying three-dimensional model may be a recording and visualization of a change of the object over time. It will be appreciated that the first positions may be identical to the second positions, or that the first positions and the second positions may completely differ from each other, or be partly overlapping.

[0047] Optionally, the object includes a plant or plant material, such as a living plant, preferably a plant or plant material that has been prepared for fluorescence imaging, e.g. being provided with a fluorescent marker, and wherein the method comprises exposing the plant or plant material to fluorescence excitation light prior to or whilst acquiring the first set of images and / or the second set of images.

[0048] Optionally, the fluorescent marker is linked to a gene of the plant or plant material and wherein the method comprises determining an expression of said gene based on the first set of images and the second set of images, e.g. including determining one or more selected from the group consisting of a presence of expression, a location of expression, a time of expression, a time duration of expression, and a level of expression. In particular, the method includes detecting and / or visualizing the expression of said gene based on the first set of images and the second set of images, e.g. including detecting and / or visualizing one or more selected from the group consisting of a presence of expression, a location of expression, a time of expression, a time duration of expression, and a level of expression.

[0049] The method may particularly comprise determining a three-dimensional model of the expression of said gene based on the first set of images and the second set of images, e.g. including determining a three-dimensional model of one or more selected from the group consisting of a presence of expression, a location of expression, a time of expression, a time duration of expression, and a level of expression.

[0050] Optionally, the method comprises acquiring the first set of images and / or the second set of images with an optical filter arranged in an optical path between the camera unit and the plant or plant material, the optical filter configured for passing fluorescent light from the plant or plant material.

[0051] Optionally, the method comprises culturing the plant or plant material whilst supported by the support, the culturing, including for example, supplying nutrients to the plant or plant material and / or illuminating the plant or plant material with photosynthetically active radiation.

[0052] Optionally, the method comprises creating a virtual object based on the digital three-dimensional model of the object or on the digital four- dimensional model of the object and augmenting a virtual-world scene or a real-world scene with the virtual object.

[0053] An aspect provides a use of images acquired by the device as described herein for creating a virtual object in a real-world or virtual-world scene.

[0054] An aspect provides a use of images acquired by the method as described herein for creating a virtual object in a real-world or virtual-world scene.

[0055] Aspects of the disclosure accordingly relate to methods that can include computer-implemented method steps, and to associated systems configured for executing such method steps. For example, various devices, such as mobile phones, configured to display an image or a series of images of a physical real-world scene. The captured images can be displayed, for instance, on a display of the device. The virtual object can be inserted, e.g. projected or superimposed, into the images before or while the images are displayed. The virtual object may also be rendered in a virtual-world scene, such as in a digital game environment as a game object, and displayed on the display of a device.

[0056] An aspect of the disclosure provides a virtual object, particularly a time-varying virtual object, for being rendered in a real-world or virtual-world scene, wherein the virtual object is created based on images acquired by a method and / or device as described herein. A further aspect provides an image or series of images of a virtual-world or real-world scene including a virtual object which is created based on images acquired by a method and / or device as described herein.

[0057] It will be appreciated that any of the aspects, features and options described herein can be combined. It will particularly be appreciated that any of the aspects, features and options described in view of the device apply equally to the method, and vice versa.

[0058] BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Embodiments of the present invention will now be described in detail with reference to the accompanying drawings in which:

[0060] Figures 1A and IB show a schematic top view of a device for recording a plant or plant material;

[0061] Figures 2A and 2B show a schematic top view of a device for recording a plant or plant material;

[0062] Figures 3 A and 3B show schematic side views of a device for recording a plant or plant material;

[0063] Figures 4-6 show detailed views of an exemplary device for recording a plant or plant material.

[0064] DETAILED DESCRIPTION

[0065] Figures 1A and IB show a schematic top view of an exemplary device 100 for recording a time-varying object, particularly a plant or plant material such as a plant or part thereof. The device 100 includes a support 10 for supporting the object. Here, the support 10 is a stationary support. The support 10 in this example has a support platform 11 for receiving the object thereon.

[0066] The device 100 also comprises a camera unit 20. The camera unit 20 is, here, movable relative to the support 10, in this example pivotable relative to the support about a vertical virtual pivot axis Al. The pivot axis Al coincides in this example with a center of the support 10. Hence, in use, the vertical pivot axis Al coincides with the object supported by the support 10, and the camera unit 20 can revolve about the object at a substantially constant radius from the object.

[0067] The device is configured for acquiring images of the object from different relative positions, by moving the camera unit 20 relative to the object being supported by the support 10. The camera unit 20 includes in this example a single camera 21, but it will be appreciated that the camera unit may include any other number of cameras. A field of view of the camera unit 20 is indicated in the figures by dashed lines. Reference markers 13 are in this example provided at the support platform 11 for being automatically detectable in the acquired images.

[0068] The device further comprises a background screen 30. The background screen is arranged in a fixed positional relation to the camera unit 20 opposite the object. The camera unit 20 and the background screen 30 are hereto coupled to a common frame 40, which is movably arranged relative to the support 10. The frame 40 can be movably driven, here pivotably about the vertical pivot axis Al, entraining the camera unit 20 and the background screen 30 therewith. Being mounted to the common frame 40, the camera unit 20 and the background screen 30 accordingly move in synchrony about the support 10, wherein the object supported by the support 10 is positioned between the camera unit 20 and the background screen 30. The background screen 30 accordingly provides a background for the images acquired with the camera unit 20. The background screen 30, being in a fixed positional relation to the camera unit 20, particularly provides a constant background to the images, facilitating isolation of the object in the images from the background. Figure 1A shows the camera unit 20 and the background screen 30 in a first angular position relative to the support 10, and figure IB shows the camera unit 20 and the background screen 30 in a second, different, angular position relative to the support 10. The frame 40 is in this example pivotable, back and forth, within an angular range of less than 360 degrees, particularly at most 330 degrees. Hence, no full rotation is made around the object 50, to facilitate control of the device 100. The frame 40 may in alternative configurations be driven indefinitely around the object 50.

[0069] In this example, the background screen 30 has an arcuate shape, here arced at a constant radius about the vertical pivot axis Al. The background screen 30 hence defines a substantially constant distance from a vertical center axis of the object placed on the support 10, irrespective of its angular position. Figures 2A and 2B show another example of a device 100, similar to the example of figures 1A and IB, wherein the background screen 30 arcs at a constant radius about a vertical axis A2 that is offset from the vertical pivot axis Al. Here, the vertical axis A2 substantially coincides with the camera unit 20, such as to define a substantially constant distance between the camera unit 20 and the background screen 30. It will be appreciated that the arcuate background screen 30 may extend about any other vertical or non-vertical axis other than the vertical pivot axis Al and the vertical axis A2.

[0070] Figures 3 A and 3B show schematic side views of the exemplary device 100 as shown in figures 1A and IB, wherein for clarity, the background screen 30 is made transparent to show underlying structures. In the orientation shown in figure 3B the frame 40 has been rotated 90 degrees about the vertical axis Al with respect to the orientation shown in figure 3A. The camera unit 20 includes in this example three cameras 21-23, here arranged in an array that extends in a vertical direction. The cameras 21-23 of the camera unit 20 are in this example thus arranged in a column, one above the other, particularly with a regular spacing therebetween.

[0071] In this example, the support 10 supports a plant 50 held by a cultivation container 51. The plant 50 is here arranged centrally on the support platform 11, such that a longitudinal axis of the plant 50 is substantially aligned with the vertical pivot axis Al. The device 100 in this example includes a nutrient supply line 12, for supplying the plant in this example with a nutrient. This way the plant can be cultivated while being supported by the support 10. The nutrient supply line 12 preferably does not impede movement of the frame 40. Here, the nutrient supply line 12 extends through an opening in the support 10, for being directed underneath the support 10 and the frame 40. A pump may be arranged for controllably pumping nutrients from the supply, via the supply line, to the object 50.

[0072] Figures 4-6 show more detailed examples of a device 100 similar to the examples as shown in figures 1A-1B and 2A-2B. In the example of figures 4-6, the camera unit 20 includes five cameras 21-25. Similar to the examples shown in figures 1A-1B and 2A-2B, the cameras 21-25 are arranged in a vertically extending array, one above the other. The cameras 21-25 of the camera unit 20 may be individually adjustable relative to each other, in this example pivotably about a horizontal adjustment axis. The cameras 21-25 of the camera unit 20, are in these examples so oriented that they have overlapping field of views.

[0073] The device 100 in this example includes a stationary support frame 5, for providing a general supportive structure of the device 100. The movable frame 40 and the components mounted thereto, are movable relative to the stationary support frame 5. The device 100 may optionally comprise an enclosure, enclosing a chamber in which the frame 40 and the support 10 are provided. The enclosure may particularly be a light-shielding enclosure so as to block ambient light from entering the chamber and illuminating the object. The enclosure may also shield the object 50 from other environmental disturbances. The chamber in which the object 50 is provided is preferably entirely enclosed by the enclosure to shield the object from all sides. The exemplary device 100 shown in figure 6 comprises a background illumination fight source configured and arranged for illuminating the background screen 30, here including here including a first array 61 of at least one light source and a second array 62 of at least one light source, arranged at opposite, here vertical, edges of the background screen 30. The first array 61 and second array 62 may each include a column of LED fights for illuminating the background screen. The light sources of the first array 61 and the second array 62 are so oriented that light is directed substantially tangential to the background screen 30 to suitably illuminate the background screen without directly illuminating the object 50. The background screen 30 is preferably provided with an optically diffuse background face for diffusely reflect light. Illumination light from the background illumination fight source can hence be diffused by the background screen 30, to minimize glare. The background screen 30 in this example is particularly provided with a uniform blue colored matte coating. It has been found that a blue background color enables for effective isolation of the object 50 from the background, particularly when the object 50 includes a plant or plant part. It will however be appreciated that alternative colors can also be used.

[0074] The device 100, here, also includes an object illumination light source 70 for illuminating the object 50 for the image acquisition. The object illumination light source 70 is here arranged mounted to the frame 40, in a fixed positional relation to the camera unit 20. The object illumination light source 70 may emit flashes of white fight appropriately timed with the image acquisitions.

[0075] The device 100 may also include a dedicated light source 80 configured for exposing the object 50 to photosynthetically active radiation. This way, when the object is a plant or other capable organism, may be cultivated being supported by the support 10. The light source 80 may be mounted to the frame 40 or may be separate from the frame 40, e.g. stationary.

[0076] In some examples, such as the example of figures 3A-3B, the device 100 may include a fluorescence excitation light source 90 for exposing the object 50 to light in a fluorescence excitation spectrum. Fluorescent markers and / or dyes in the plant or plant material may be excited by the fluorescence excitation light emitted by the fluorescence excitation light source 90 for fluorescence imaging of the object, thereby for example, allowing to experimentally observe dynamics of gene expression, protein expression, and / or molecular interactions. For fluorescence imaging, the acquired images of the plant or plant material may be post-processed, e.g. using digital filters, but in this example, the device 100 comprises a fluorescence optical filter 91 for filtering observation fight from the object to pass fluorescent light and substantially attenuate excitation fight. The optical filter 91 may hence be an optical notch filter for selectively attenuate light within excitation fight spectrum. The optical filter 91 in the example shown in figures 3A-3B includes three optical filter elements 9 la-9 lb, respectively associated with the cameras 21-23 of the camera unit 20. The optical filter 91 may be mounted to the frame 40. Here, the filter elements 91a-91c are movably attached to the respective cameras 21-23 of the camera unit 20, and configured for being selectively movable relative to the respective cameras 21-23 between a first position in which the optical filter elements 91a-91c are arranged in the respective optical paths between the object and the respective camera 21-23 and a second position in which the optical filter elements 91a-91c are arranged out of said optical paths.

[0077] The camera unit 20 in these examples is configured for acquiring a first set of images associated with a first set of different relative positions of the camera unit 20 with respect to the support 10. In particular, the images of the first set of images in these examples correspond to respective angular positions of the camera unit 20 relative to the support 10. The frame 40 may be pivotally driven by a drive unit 41, e.g. including an electric motor, within an angular range, such that the camera unit 20 and background screen 30 are moved in synchrony along a, e.g. circular trajectory about the object 50. While being moved, the camera unit 20 acquires the first set of images of the object 50 at respective first positions. At each first position, each camera of the camera unit 20 may capture a respective image. The images of the first set may hence include images acquired by different cameras of the camera unit 20.

[0078] The first set of images thus captures the object 50 at a first time instant. It will be appreciated that the image acquisition in practice takes a relatively short period of time, and that, in the current examples, several images are acquired successively at the different relative positions. With respect of the time scale of developmental processes of the object however, this relatively short period of time of acquiring the images of the object can be considered and referred to herein as a 'time instant'.

[0079] The device 100 is configured for acquiring, at a second time instant, a second set of images associated with a second set of relative positions of the camera unit 20 with respect to the support 10. The second time instant is separated in time from the first time instant. The second set of images may be acquired similarly as the first set of images. The first set of relative first positions may correspond with the second set of relative second positions, but it will be appreciated that the first positions and second positions may, at least partly, differ from each other. The first set of images and the second set of images may be acquired while moving the frame 40 in opposite directions.

[0080] The device 100 may acquire sets of images in this manner at preprogrammed, e.g. regular time intervals. Each set of images may be acquired from preprogrammed, e.g. regular angular positions of the frame 40. The device 100 preferably comprises a control unit, configured for controlling the movement of the frame 40 relative to the support. The control unit may be configured to control operation of the drive unit 41, to drive the frame within a predetermined movement range. The control unit can also control operation of the camera unit 20, particularly in dependence of a position of the frame, such as an angular position about the vertical axis Al. The control unit may be operatively connected to a position sensor that measures the position of the frame. The camera unit 20 may be controlled by the control unit such as to acquire images of the object at a set of predetermined positions within the predetermined movement range of the frame 40. Each image can hence be associated with a positional parameter indicative of a spatial coordinate at which the image was acquired. Figure 5 shows the device 100 to comprise a user-interface 7, by means of which a user can operatively interact with device 100. Via the user-interface 7, a user may program a schedule for acquiring images, set a nutrient dosage regime for the plant or plant material supported by the support, program lighting settings, program camera settings, etc. The user-interface 7 may include a display for displaying images acquired by the camera unit 20, so as to allow a user to view the object, e.g. without having to enter the enclosure.

[0081] The sets of images may be stored in a memory for later use. The sets of images may particularly be processed, e.g. by a processing unit of the device 100, for determining a digital three-dimensional model of the object 50. A digital twin can hence be created of the object 50. Based on each set of images a three-dimensional model of the object 50 can be determined, wherein the digital three-dimensional model can be time-varying based on multiple sets of images acquired at different time instances. A change of the object over time can accordingly be modeled and reconstructed digitally. Based on the imaging data of the acquired images and / or the e.g. time-varying digital three-dimensional model, a virtual object can be created. A virtual or real-world scene may be augmented with the virtual object.

[0082] Various devices, such as mobile phones, include a camera device which may be used to capture an image or a series of images of a physical real-world scene. The captured images can be displayed, for instance on a display of the device. The virtual object may be inserted into the captured images before or while the images are displayed. The virtual object may hence be a virtual game object that can be rendered in a real-world or a virtual- world scene.

[0083] Herein, the invention is described with reference to specific examples of embodiments of the invention. It will, however, be evident that various modifications and changes may be made therein, without departing from the essence of the invention. For the purpose of clarity and a concise description features are described herein as part of the same or separate embodiments, however, alternative embodiments having combinations of all or some of the features described in these separate embodiments are also envisaged.

[0084] However, other modifications, variations, and alternatives are also possible. The specifications, drawings and examples are, accordingly, to be regarded in an illustrative sense rather than in a restrictive sense.

[0085] In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word 'comprising' does not exclude the presence of other features or steps than those listed in a claim. Furthermore, the words 'a' and 'an' shall not be construed as limited to 'only one', but instead are used to mean 'at least one', and do not exclude a plurality. The mere fact that certain measures are recited in mutually different claims does not indicate that a combination of these measures cannot be used to an advantage.

Claims

Claims1. A device for recording a plant or plant material, comprising a support for supporting the plant or plant material; a movably adjustable camera unit arranged for acquiring images of the plant or plant material supported by the support, the camera unit being mounted to a movable frame and movable therewith relative to the support to acquire the images of the plant or plant material from different relative positions; and a background screen mounted to the movable frame in a positional relation opposite to the camera unit for being moved along with the frame in synchrony with the camera unit.

2. The device according to claim 1, wherein the support is a stationary support.

3. The device according to claim 1 or 2, wherein the background screen is mounted to the movable frame in a fixed positional relation opposite to the camera unit for being moved along with the frame in synchrony with the camera unit.

4. The device according to any one of claims 1-3, comprising a processing unit configured for receiving the acquired images and reconstructing based on said images a digital three-dimensional model of the plant or plant material or a digital four-dimensional model of the plant or plant material.

5. The device according to claim 4, wherein the processing unit is configured for creating a virtual object based on the digital three-dimensional model of the plant or plant material or on the digitalfour- dimensional model of the plant or plant material, and augmenting a virtual-world scene or a real-world scene with the virtual object.

6. The device according to any one of claims 1-5, comprising a fluorescence excitation light source arranged for exposing the plant or plant material to light in a fluorescence excitation spectrum.

7. The device according to claim 6, further comprising a fluorescence optical filter for filtering observation light from the plant or plant material to pass fluorescent light, the optical filter being mounted to the frame and configured for being selectively movable relative to the camera unit between a first position in which the optical filter is arranged in an optical path between the plant or plant material and at least one camera of the camera unit and a second position in which the optical filter is arranged out of said optical path.

8. The device according to any of the preceding claims, wherein the camera unit includes an array of cameras that extends in a vertical direction, and wherein the camera unit is movable relative to the support between the different relative positions in a horizontal direction.

9. The device according to any of the preceding claims, wherein the camera unit comprises one or more polarized flash units and / or one or more polarizing filter elements.

10. The device according to any of the preceding claims, wherein the camera unit is pivotally movable between the different relative positions along an arcuate path about the support.

11. The device according to any one of the preceding claims, wherein the camera unit is dual-point mounted to the frame.

12. The device according to any of the preceding claims, wherein the background screen has an arcuate shape that curves about a vertical axis coinciding with the support.

13. The device according to any one of claims 1-12, wherein the background screen is provided with a diffusely reflective background face.

14. The device according to any one of claims 1-13, wherein the background screen is provided with a uniform blue-colored matte background face.

15. The device according to any one of claims 1-14, wherein the support is provided with a diffusely reflective support face.

16. The device according to any one of claims 1-15, wherein the support is provided with a uniform blue-colored matte background face.

17. The device according to any of the preceding claims, comprising a background illumination light source coupled to the frame in a fixed positional relation to the background screen and so arranged for illuminating the background screen.

18. The device according to any one of the preceding claims, further comprising a light-shielding enclosure, enclosing a chamber in which the frame and the support are provided.

19. The device according to any of the preceding claims, comprising a nutrient supply line extending from a nutrient supply to the support, the supply line arranged for allowing the plant or plant material to be suppliedwith a nutrient without impeding movement of the frame relative to the support.

20. The device according to any of the preceding claims, comprising a stationary light source for illuminating the plant or plant material with photosynthetically active radiation.

21. The device according to any of the preceding claims, further comprising an airflow system for ventilating and / or temperature control.

22. A method for recording a time-varying object over time using a device according to any of the preceding claims.

23. A method for recording a plant or plant material over time using a device according to any of the preceding claims.

24. The method according to claim 22, comprising acquiring images of the object with the camera unit from different relative positions and reconstructing a digital three-dimensional model of the object based on the acquired images.

25. The method according to claim 23, comprising acquiring images of the object with the camera unit from different relative positions and reconstructing a digital three-dimensional model of the object based on the acquired images.

26. The method according to any one of claims 22-25, comprising supporting the object by the support; at a first time instant, acquiring with the camera unit a first set of images of the object from different relative first positions by moving thecamera unit relative to the object between said different relative first positions; at a second time instant, spaced in time from the first time instant, acquiring with the camera unit a second set of images of the object from different relative second positions by moving the camera unit relative to the object between said different relative second positions; constructing a digital time-varying three-dimensional model based on the first set of images and the second set of images representing a change of the object over time.

27. The method according to claim 26, wherein the object comprises a plant or plant material, said plant or plant material provided with a fluorescent marker.

28. The method according to claim 27, comprising exposing the object to fluorescence excitation light prior to or whilst acquiring the first set of images and / or the second set of images.

29. The method according to claim 27 or 28, comprising culturing the object whilst supported by the support, the culturing, including for example, supplying nutrients to the object.

30. A use of images acquired by the device according to any of claims 1-21 or by the method according to any of claims 22-29 for creating a virtual object in a real-world or virtual-world scene.

Images