TOMBO is a compound-eye imaging system in which an image sensor is divided into multiple sections by small lenses.The system has notable features such as the capability of capturing various types of object signals at a time, flexibility inoptical system design suitable for given purposes, and so on. Owing to the system composition, most of the previousresearches were performed under specific indoor environments so that the application targets were limited.In this study, we developed a mobile TOMBO system capable of operating in a field environment. Related to the structureof TOMBO, the baseline for distant measurement is very short. In the outdoors environment, the distance to the targetobjects is long, so that the parallax is too small to be detected. On the other hand, such a small parallax provides anadvantage in multi-modal observation of the same object because the field-of-views of individual lenses are almostidentical. Considering these properties, the mobile TOMBO system is suitable for multi-spectral imaging. A prototypesystem was developed with an embedded computer, Raspberry Pi 3 Model B, connecting to a multi-spectral TOMBO. Thespectral channels were set as 450nm, 530nm, 660nm, 740nm, 730nm, 770nm, 850nm, 910nm, and 970nm.The developed TOMBO system was mounted on an unmanned aerial vehicle (UAV) and aerial observation experimentswere performed. Aiming at the application of plant monitoring, the observed aerial images were evaluated by a normalizeddifference vegetation index (NDVI) used in remote sensing. The obtained results confirmed the effectiveness and potentialcapabilities of the mobile TOMBO system.
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