TABLE OF CONTENTS


 page


ACKNOWLEDGMENT S .............. .................... iv


LI ST OF T ABLE S ................. ................. vii...___.....


LIST OF FIGURES ........._.._ ........... ..............viii...


AB S TRAC T ......_ ................. ............_........x


CHAPTER


1 INTRODUCTION ................. ...............1.......... ......


2 LITERATURE REVIEW .............. ...............4.....


 2.1 Citrus Production in Florida .............. ...............4.....
 2.2 Citrus Harvesting ................... ... .......... ...............6.......
 2.3 Precision Agriculture and Yield Mapping ................. .............. ......... .....7
 2.4 Citrus Yield Mapping .............. ...............9.....
 2.5 Image Segmentation ................. ...............11.......... ....


3 MATERIALS AND METHODS .............. ...............15....


 3.1 Overview of Experiment............... ..............1
 3.2 System Hardware............... ...............18
 3.2.1 Color Vision Hardware............... ...............18
 3.2.2 DGPS Receiver and Encoder. .....__.....___ .........._ ...........1
 3.3 Image Acquisition................... ........... .......2
 3.4 Image Analysis using HSI Color Model ......____ ..... ... .__ .. ......._......2
 3.5 Development of the Fruit Counting Algorithm ............_......__ ..............22
 3.6 Image Processing Time............... ...............25..
 3.7 Experimental Procedure................ ...............2
 3.7 Prediction of number of fruits/plot ................. ...._._ ...._._ ..........2
 3.8 Yield Prediction Model ................. .... ......... ...............29.....
 3.9 Performance of the Fruit Counting Algorithm .......... ................ ...............30
 3.10 Performance of the Yield Prediction Model ................. ......... ................3 1
 3.11 Yield Variability based on Rootstock Variety ................. .........................31