## 5 Sensors
### Multispectral Cameras  
Multispectral remote sensing involves capturing data across multiple wavelengths of light, including those outside the visible spectrum, such as infrared data. This technology is crucial in agriculture because it reveals information about plant health, water content, and nutrient levels that is not visible to the human eye. By analyzing the reflectance in different spectral bands, farmers can monitor crop stress, detect disease, and optimize inputs like water and fertilizers. While UAVs are the primary platform for multispectral imaging due to their ability to quickly cover large areas, UGVs can also be used for specific ground-level tasks, such as soil nutrient mapping, weed detection, and close-up plant health assessments, providing a more detailed view where aerial data may be insufficient. In addition to multispectral cameras, hyperspectral cameras offer even greater precision by capturing data across hundreds of narrow spectral bands. These high-resolution spec \begin{table}
\begin{tabular}{l l l l l l l l l} \hline \hline
**MFR 1** & **Model** & **Tech 1** & **Shutter 1** & **Max res 1** & **Range (m) 1** & **FoV 1** & **Intf 1** & **Prot 1** \\ \hline Orbbec & Gemini 336 & SV & Rolling & 1280 \(\times\) 800 \#30 fps & 0.1–10 & 90\({}^{\circ}\)\(\times\) 65\({}^{\circ}\) & USB3.0 Type C & IPSX \\ \hline Orbbec & Gemini 336L & SV & Global & 1280 \(\times\) 800 \#30 fps & 0.17–10 & 94\({}^{\circ}\)\(\times\) 68\({}^{\circ}\) & USB3.0 Type C & IP65 \\ \hline Orbbec & Femto Mega I & ToF & Rolling & 1024 \(\times\) 1024 \#10 fps & 0.25–3.86 & 80\({}^{\circ}\)\(\times\) 51\({}^{\circ}\) & Ethernet & IP65 \\ \hline Orbbec & Femto Bolt & ToF & Rolling & 1024 \(\times\) 1024 \#15 fps & 0.25–5.46 & 80\({}^{\circ}\)\(\times\) 51\({}^{\circ}\) & USB3.2 Type C & n/a \\ \hline Orbbec & Astra 2 & SL & Rolling & 1600 \(\times\) 100 \#30 fps & 0.6–8 & 75\({}^{\circ}\)\(\times\) 36\({}^{\circ}\) & USB3.0 Type C & n/a \\ \hline Intel & RS ZR300 & SV & Rolling & 1920 \(\times\) 1080 \#30 fps & 0.55–2.8 & 59\({}^{\circ}\)\(\times\) 46\({}^{\circ}\) & USB3.0 & n/a \\ \hline Sick & V3S146 & SV & Global & 1024 \(\times\) 576 & 0.28–16 & 130\({}^{\circ}\)\(\times\) 105\({}^{\circ}\) & Ethernet & n/a \\  & & & @30 fps & 0.65–37 & 90\({}^{\circ}\)\(\times\) 60\({}^{\circ}\) & & \\ \hline Vzense & NYX660 & ToF & Global & 1600 \(\times\) 1200 \#15 fps & 0.3–4.5 & 70\({}^{\circ}\)\(\times\) 50\({}^{\circ}\) & Ethernet, RS485 & IP67 \\ \hline Basler & blaze-102 & ToF & Global & 640 \(\times\) 480 \#30 fps & 0.3–10 & 67\({}^{\circ}\)\(\times\) 51\({}^{\circ}\) & Ethernet & IP67 \\ \hline StereoLabs & ZED 2i & SV & Rolling & 2208 \(\times\) 1242 & 0.3–20 \#/2 & 120\({}^{\circ}\) & USB & IP66 \\  & & & @15 fps & 1.5–35 \#/1.8 & & type C & \\ \hline Sipeed & MaixSense A075 & ToF & Rolling & 1600 \(\times\) 1200 \#30 fps & 0.15–1.5 & 120\({}^{\circ}\) & USB2.0 Type C & n/a \\ \hline eCon & Tara Stereo Vision & SV & Global & 752 \(\times\) 480 \#60 (monochrome) & pcs.5–3 & n/a & USB3 & n/a \\ \hline Lucid & Helios2 Ray Outdoor & ToF & Global & 640 \(\times\) 480 \#30 fps & 0.3-8.33 & n/a & Ethernet & IP67 \\ \hline \hline \end{tabular}  
* MFR = “manufacturer”; Tech = “technology”; Shutter = “shutter type (RGB)”; Max res = “maximum RGB resolution”; Range = “measuring range”; FoV = “Field of View (H \(\times\) V)”; Intf = “interface”; Prot = “protection”.  
\end{table} 
Table 1: Commercial outdoor RGB-D cameras particularly suited for crop surveillance. tral data enable a more detailed analysis of plant health, soil composition, and disease detection, making hyperspectral imaging especially valuable for identifying subtle changes in crop conditions. When mounted on UGVs, hyperspectral cameras allow for detailed, ground-level assessments of individual plants or specific areas in the field [30]. Unfortunately, these cameras can be quite costly. Additionally, infrared sensors become more expensive as the wavelengths of light they capture move further away from the visible range.