A 4x4 truck was used for driving inside the grove. The complete setup, consisting of a

desktop computer, a control box for an encoder and a camera, and a DGPS receiver, was

kept on the rear of the truck, Figure 3-2. A metal frame attached to the rear of the truck

was used to carry a generator, the source of power supply for the entire setup and this

metal frame moved in tandem with the truck. The encoder was attached to the wheel of

the metal frame (Figure 3-4). A camera (model: FCB-EX780S, Sony, New York, NY)

and a DGPS receiver (model: AgGPS 132, Trimble, Sunnyvale, CA) were attached to a

metal pole that was supported to the tailgate of the truck. The metal pole was 5.2 m high

and the camera was 4.9 m above the ground. The camera was placed at 45-degree angle

relative to the ground with the intention to cover a maximum section of the tree canopy.


Figure 3-2. Experimental setup.