The invention discloses a litchi garden unmanned aerial vehicle spraying path
planning method based on instance segmentation, and relates to the technical field of unmanned aerial vehicle path planning, and the method comprises the specific steps of
data acquisition,
image segmentation, parameter calculation and coordinate conversion, path planning and file generation. Aerial images and
elevation data of a lychee garden are collected through an agricultural unmanned aerial vehicle, the aerial images are preprocessed and then input into a trained instance segmentation model, extraction of a single-
plant litchi tree crown instance
mask and a circumscribed bounding box is achieved, coordinates of a tree crown center point and a
canopy area are calculated based on the instance
mask, a calculation result is verified by the circumscribed bounding box, and a single-
plant litchi tree crown is obtained. The method comprises the following steps of: extracting
canopy height by combining
elevation data, obtaining leaf density through
canopy region pixel gray value distribution and
texture feature analysis, finally converting all canopy parameters with pixel coordinate attributes into geographic coordinates or projection coordinates, and constructing a complete technical link from accurate crown identification to parameter
standardization processing. And accurate spatial data is provided for path planning.