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3D Reconstruction of Small Flexible Objects With Slender Structures: Reconstructing Conifer Seedlings for Development of Computer Vision Systems in Virtual Environments
Luleå University of Technology, Department of Engineering Sciences and Mathematics, Product and Production Development.ORCID iD: 0009-0007-6371-3971
Luleå University of Technology, Department of Engineering Sciences and Mathematics, Product and Production Development.ORCID iD: 0000-0002-9862-828X
Luleå University of Technology, Department of Engineering Sciences and Mathematics, Product and Production Development.ORCID iD: 0000-0002-2342-1647
2026 (English)In: Photogrammetric Record, ISSN 0031-868X, E-ISSN 1477-9730, Vol. 41, no 194, article id e70054Article in journal (Refereed) Published
Abstract [en]

3D reconstruction has matured into a robust technology. However, small, flexible objects such as conifer seedlings remain challenging due to their fine-scale structures, and susceptibility to movement. This study investigates and evaluates methods for reconstructing spruce (Picea abies) and pine (Pinus sylvestris) seedlings, with the aim of establishing a workflow capable of capturing geometry and texture for applications in machine learning and virtual testing environments. Two acquisition approaches were tested: photogrammetry using a RGB camera and a 3D scanner, both mounted on a robotic arm. While the scanner produced incomplete results, the photogrammetry approach successfully generated point clouds (pcl) with color information. Three different photogrammetry software were tested before relying on Agisoft Metashape and Meshroom for image processing and dense pcl generation, followed by pcl filtering in CloudCompare and meshing in Blender. Six seedlings were reconstructed to textured meshes and quantitatively evaluated using the metrics precision, recall, F1-score, mask intersection-over-union (IoU), and boundary IoU. Results showed an average mask IoU of 75.7% and F1-score of 86.1%. Pine seedlings yielded higher recall and F1-scores, whereas spruce reconstructions demonstrated higher precision. The proposed semi-automated workflow demonstrates the feasibility of reconstructing small and slender structured flexible objects, specifically conifer seedlings.

Place, publisher, year, edition, pages
John Wiley & Sons, 2026. Vol. 41, no 194, article id e70054
National Category
Forest Science
Research subject
Machine Design
Identifiers
URN: urn:nbn:se:ltu:diva-117969DOI: 10.1111/phor.70054ISI: 001785427500001OAI: oai:DiVA.org:ltu-117969DiVA, id: diva2:2067579
Funder
Vinnova, 2023‐02747Interreg Aurora, 20357984Luleå University of Technology, JCSMKJF23-0004
Note

Fulltext license: CC BY 4.0;

Related dataset: 10.5281/zenodo.16992417

Available from: 2026-06-08 Created: 2026-06-08 Last updated: 2026-10-05Bibliographically approved

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fulltext(4068 kB)144 downloads
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Pääkkölä, EliasLideskog, HåkanKarlberg, Magnus

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CiteExportLink to record
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