Mapping crop variables at different growth stages is crucial to inform farmers and plant breeders about the crop status. For mapping purposes, inversion of canopy radiative transfer models (RTMs) is a viable alternative to parametric and non-parametric regression models, which often lack transferability in time and space. Due to the physical nature of RTMs, inversion outputs can be delivered in sound physical units that reflect the underlying processes in the canopy. In this study, we explored the capabilities of the coupled leaf–canopy RTM PROSAIL applied to high-spatial-resolution (0.015 m) multispectral unmanned aerial vehicle (UAV) data to retrieve the leaf chlorophyll content (LCC), leaf area index (LAI) and canopy chlorophyll content (CCC) of sweet and silage maize throughout one growing season. Two different retrieval methods were tested: (i) applying the RTM inversion scheme to mean reflectance data derived from single breeding plots (mean reflectance approach) and (ii) applying the same inversion scheme to an orthomosaic to separately retrieve the target variables for each pixel of the breeding plots (pixel-based approach). For LCC retrieval, soil and shaded pixels were removed by applying simple vegetation index thresholding. Retrieval of LCC from UAV data yielded promising results compared to ground measurements (sweet maize RMSE = 4.92 µg/m², silage maize RMSE = 3.74 µg/m²) when using the mean reflectance approach. LAI retrieval was more challenging due to the blending of sunlit and shaded pixels present in the UAV data, but worked well at the early developmental stages (sweet maize RMSE = 0.70 $\mathrm{m}$${}^2$/$\mathrm{m}$${}^2$, silage RMSE = 0.61 $\mathrm{m}$${}^2$/$\mathrm{m}$${}^2$ across all dates). CCC retrieval significantly benefited from the pixel-based approach compared to the mean reflectance approach (RMSEs decreased from 45.6 to 33.1 µg/m²). We argue that high-resolution UAV imagery is well suited for LCC retrieval, as shadows and background soil can be precisely removed, leaving only green plant pixels for the analysis. As for retrieving LAI, it proved to be challenging for two distinct varieties of maize that were characterized by contrasting canopy geometry.

Introduction: Detecting and monitoring crop stress is crucial for ensuring sufficient and sustainable crop production. Recent advancements in unoccupied aerial vehicle (UAV) technology provide a promising approach to map key crop traits indicative of stress. While using single optical sensors mounted on UAVs could be sufficient to monitor crop status in a general sense, implementing multiple sensors that cover various spectral optical domains allow for a more precise characterization of the interactions between crops and biotic or abiotic stressors. Given the novelty of synergistic sensor technology for crop stress detection, standardized procedures outlining their optimal use are currently lacking. Materials and methods: This study explores the key aspects of acquiring high-quality multi-sensor data, including the importance of mission planning, sensor characteristics, and ancillary data. It also details essential data pre-processing steps like atmospheric correction and highlights best practices for data fusion and quality control. Results: Successful multi-sensor data acquisition depends on optimal timing, appropriate sensor calibration, and the use of ancillary data such as ground control points and weather station information. When fusing different sensor data it should be conducted at the level of physical units, with quality flags used to exclude unstable or biased measurements. The paper highlights the importance of using checklists, considering illumination conditions and conducting test flights for the detection of potential pitfalls. Conclusion: Multi-sensor campaigns require careful planning not to jeopardise the success of the campaigns. This paper provides practical information on how to combine different UAV-mounted optical sensors and discuss the proven scientific practices for image data acquisition and post-processing in the context of crop stress monitoring.

Agrophotovoltaic (APV) systems provide a unique opportunity for improving agricultural land-use efficiency by combining solar energy capture via photovoltaic panels with crop production. However, in-depth information on plant growth patterns within the spatially heterogenous microclimate created by the intermittent shading of APVs is largely missing. In the present study, we implement a customized robot-mounted 3D-multispectral imaging system to closely monitor the growth and spectral reflectance patterns of a conventional soybean cultivar “Eiko” (EK) and a chlorophyll-deficient mutant variety MinnGold (MG) under an APV system. Weekly trends in canopy morphometric features revealed significant variations in plant height, 3D leaf area, light penetration, and canopy volume across the APV field depending on the proximity with the overhead solar panels for both EK and MG, with plants receiving adequate rainfall and intermittent shade performing the best. Furthermore, although spectral indices exhibited variations between EK and MG due to intrinsic differences in pigmentation, symptoms of stress could be detected for both genotypes within rain-shaded areas of the APV plot. Hence, the present investigation depicts the potential for complementary usage of robotics and machine vision for high-precision high-throughput crop monitoring under APVs, which would enable better crop management within such non-homogenous cultivation systems.

Agrophotovoltaic (APV) systems provide a unique opportunity for improving agricultural land-use efficiency by combining crop production with solar energy capture via photovoltaic panels. In-depth information on plant growth patterns within the spatially heterogenous microclimate created by APVs would enable better planning and management within such unconventional systems. Thus, the present study demonstrates the implementation of a customized robot-mounted 3D-multispectral imaging system for monitoring the growth and spectral reflectance patterns of a conventional soybean cultivar ‘Eiko’ (EK) and a chlorophyll-deficient mutant variety ‘MinnGold’ (MG) under an APV system. Weekly trends in canopy morphometric features revealed significant variations in canopy height, surface area, light penetration, and volume across the APV field depending on the proximity to the overhead solar panels for both EK and MG, with plants receiving adequate rainfall and intermittent shade performing the best. Furthermore, although spectral indices exhibited variations between EK and MG due to intrinsic differences in pigmentation, symptoms of stress could be detected for both genotypes within rain-shaded areas of the APV plot. Hence, the present investigation reveals the potential for complementary usage of robotics and machine vision for high-precision high-throughput crop monitoring under APVs, which would help improve crop management within such non-homogenous cultivation systems.