Preliminary description! There can be changes during next weeks.To be discussed in the teams meeting.
The robots shall detect objects as weeds and beer cans (example for waste) and map or geo-reference them. Objects detected in the virtual field should be signalled by a ROS message in the real field by an acoustic signal. The coordinate system shall be locally in horizontal field dimensions. The reference point will be pillars with a QR code. This task is conducted in an environment similar to the previous task. Nevertheless, good row navigation is required. There will be nine (9) objects in total distributed across the virtual field.
The robot has to generate a file (*.csv) with classified objects and their coordinates relative to the given reference point. Each object should be reported on one line in the file including the coordinates x and y in horizontal plane in meters with 3 decimal points and its kind (table 5).
Bonus task for the field runs – Removal of waste
The robots can remove the cans and place them outside the crop area on the headland.
The robot is allowed to push the cans to the headland, but without a clear act of picking up, it will only earn points for the delivery.
Virtual and Field Environment
Objects are realistic weeds and cans e.g. of beer with different brands and colours. The objects will be placed randomly across the field. So they can be in between and in the rows. No objects are located on the headlands.
Rules for robots
Each robot has only one attempt. For starting, the robot is placed at the beginning of the first row without crossing the white line. The maximum available time for the run is 3 min.
The jury assesses the detection during the run:
|Detected object during run (true positive)||5 point|
|Detected object during run (false positive)||-5 (minus) points|
And assesses the classification and accuracy of mapped objects:
|x: Euclidean distance to object of the same kind*||points|
|x ≤ 2cm||15|
|2 cm < x ≤ 37.5 cm||15.56 – 0.2817 * x|
|x > 37.5 cm (false positive)||-5|
*(distance error to the nearest object of the same kind)
And registers and assesses the number of objects where they are remaining after the run in the real field:
|Cans picked up||3 points/object|
|Cans delivered to the headlands||6 points/object|
Crop plant damage by the robot will result in a penalty of 4 points per plant.
The task completing teams will be ranked by the number of points as described above. The best 3 teams will be rewarded.
Table 5 – Example for a map file.