Machine Learning Based Cloud Integrated Farming
Jetendra Joshi Siddhanth Polepally
Department of Electronics and Department of Electronics and
Communications Communications
NIIT University, Rajasthan, India NIIT University, Rajasthan, India
Rohith Samineni S R Rahul
Department of Electronics and Department of Electronics and
Communications Communications
NIIT University, Rajasthan, India NIIT University, Rajasthan, India
Dandu Geet Kamal Tej
Department of Electronics and Communications
NIIT University, Rajasthan, India
ABSTRACT
With the increasing population, the demand for more agricultural
production is only surged. This increasing demand can only be
attained with progressing technology. Internet of Things (IoT) is
dramatically advancing the way we live our life by full-scale
control over data with minimal human involvement. Using IoT to
meet this high demand for production is achieved. In this paper
we propose a bot that can be used for small scale farming in areas
like gardens or backyard. A simple web application is provided
for the user to decide the plants to be farmed and the bot does rest
of the work. This bot can plant the seeds, water each plant at
required intervals and even plot the weed to bury it. A database is
provided with the information about several parameters to be
taken care of for each kind of plant. Different sensors are used to
sense the properties of soil and environment which can be used to
anticipate the near changes and take necessary steps. Image
processing is being used for detection and prevention of weed
growth. We adopted Bayesian methods of machine learning to
efficiently estimate the performance parameters by probability
distribution.
CCS Concepts
•Computer systems organization➝Robotic autonomy
Keywords
Internet of Things (IoT); smart agriculture; weed removal;
shadow removal; Machine Learning; Bayesian Statistics.
1. INTRODUCTION
Agriculture is a wide financial sector and it plays a vital role in
the overall economic development of a nation. In agricultural
sector, growth is important for the enlargement of an economy.
Unfortunately, farmers still use ancient methods of farming which
Permission to make digital or hard copies of all or part of this work for
personal or classroom use is granted without fee provided that copies are
not made or distributed for profit or commercial advantage and that copies
bear this notice and the full citation on the first page. Copyrights for
components of this work owned by others than ACM must be honored.
Abstracting with credit is permitted. To copy otherwise, or republish, to
post on servers or to redistribute to lists, requires prior specific permission
and/or a fee. Request permissions from Permissions@acm.org.
ICMLSC '17, January 13-16, 2017, Ho Chi Minh City, Viet Nam
© 2017 ACM. ISBN 978-1-4503-4828-7/17/01…$15.00
DOI: http://dx.doi.org/10.1145/3036290.3036297
DOI: http://dx.doi.org/10.1145/12345.67890
1
Pranith Kumar
Department of Electronics and
Communications
NIIT University, Rajasthan, India
Kaushal Sumedh
Department of Electronics and
Communications
NIIT University, Rajasthan, India
Vishal Rajapriya
Department of Electronics and Communications
NIIT University, Rajasthan, India
is highly inefficient and produces a low yield. Technological
advancements in the area of agriculture have shown reliable
results and also help in increasing the competence of farming
activities. But when computerization was implemented and
manual labor had been replaced by automatic machineries, the
yield percentage has improved immensely. We came up with a
new innovative way where smart farming can be done on a small
scale using IoT.
IOT (Internet of Things) is any physical system that can be
assigned an IP address and can transfer data over a network. It
helps in increasing the efficiency and accuracy of transferring
data over a network. In simple words, it is a network of
interconnected things and devices which are embedded with
sensors, network connectivity, software and necessary electronics
that enables them to collect and exchange data making them
reactive. The IOT architecture is capable of providing highly
secured encryption and is also developed enough to support an
operating system. The agricultural farming scenario appears to be
one of the most favorable application areas for IoT. Farming
sector is highly un-organized in few countries; most of the
systems followed are passed down through generations. Using
IoT to achieve this can be productive.
1.1 Important components of IOT
IoT is defined as any physical object that can sense and affect the
physical environment. These physical objects are referred to as
“things”. Humans are also included in IoT in various scenarios
where they control the environment via mobile applications. The
main components that make internet of things a reality are
physical objects or “things”, sensors, actuators which are used to
sense the physical environment such as brake controller in a car,
different types of platforms, different types of services and all of
these are interconnected over a network. Types of platforms
consist of middleware that are used as access to devices or data
analytics. Types of services include cloud services that can be
used to process big data and convert it into valuable information.
This valuable information can be used by applications to help
control the physical as well as virtual environment using a
network. Widely accepted architecture of IoT is depicted in figure
1.

Figure 1. Architecture of IoT.
An individuals’ life is completely inundated with IOT
applications surrounding him. For instance, a simple wrist band
around a person’s hand measuring the sleep cycles knows when to
wake him up for his daily routine. Once the person is up, it starts
a chain of events communicating to several other devices like
warming the room by regulating the air conditioner, starting the
coffee machine, notifying the geyser to start water heating,
preparing the garage door to open and so on making a persons life
efficient and easy. This is an application of IOT in smart home
systems. On the other hand, consider a scenario where a person
has medical issues. In this scenario, person suffering from heart
issues is prone to suffer from heart attacks. This wrist band can
detect sudden increase in blood pressure, erratic breathing and
changes in vital signs and notifies the user for immediate medical
attention. In case of a severe situation, it will alert an ambulance
for dispatch and apprise the hospital so that they can be prepared
beforehand.
Smart agriculture is a concept that was created in order to
maintain a sustainable environment as well as get an optimal yield.
Previous agriculture methods were developed without considering
water consumption, climate change, environmental conditions, etc.
As agriculture consumes approximately 70% of the world’s
freshwater supply, water management plays a crucial role and
should be used efficiently. This can be done through smart
agriculture which takes into consideration all aforementioned
factors. In smart farming, based on already available data related
to the amount of water required for different types of crops and
also taking into consideration the moisture levels in the soil, a
reliable water management schedule can be designed. Available
weather reports can be used as a precursor for further precautions.
1.2 Bayesian Statistics
Machine learning Algorithms have been used extensively for a
wide range of tasks including classification, regression and
density estimation in a variety of application areas such speech
recognition, bioinformatics, computer vision, spam detection,
fraud detection and advertising networks. The algorithms and
techniques come from diverse fields including statistics,
mathematics, neuroscience, and computer science and used even
broader, or most areas related to machines nowadays.
A Bayesian network, belief network or directed acyclic graphical
model is a probabilistic graphical model that represents a set of
random variables and their conditional independencies via a
2
directed acyclic graph (DAG). For example, a Bayesian network
could represent the probabilistic relationships between speed and
time. Given speed, the network can be used to compute the
probabilities of the latency of different sensors which we estimate
in this paper. Efficient algorithms exist that perform inference and
learning
The paper has been divided into VI sections. In section II related
works; previously achieved works has been discussed. Section III
mentions problem formulation. In section IV proposed model, the
hardware, software and image processing has been explained
along with results. In section V, an analysis of proposed model is
performed. Section VI is conclusion and finally, ending the paper
with references in section VII.
2. RELATED WORKS
Internet of things is a developing technology that connects
devices with in a network. This technology developed enables the
control and monitoring in various domains including home
appliances, industrial production, health monitoring applications,
smart cities, smart grid, agricultural applications and many more
explained in [1],[2]&[3]. In [4], [5] IoT is discussed in depth
along with cloud computing. How IoT is currently being used in
agricultural field and its future scope is well extrapolated along
with detailed flowcharts of its working. The various areas into
which IoT applications disseminate is also explained. In [7] the
author proposes a IoT based agricultural convergence technology
for high quality increase in agricultural products. He implemented
precision farming as an alternative to the future agriculture using
this technology. This allows prediction of supply and demand,
quality management during the entire life cycle of agriculture. An
insight into key technologies of IoT and system architecture is
given in [9] which included technology of information collection,
network communication, data fusion and computing. Authors
view on monitoring system for Agricultural production based on
IoT is also shown. In [13] [19] author proposes the use of wireless
network based solution for Precision Agriculture along with an
overview of current agricultural production status, urging the
need for precision farming. In further explains the feasibility of
precision farming in developing countries with solid ground. In
[14] author discusses different problems faced by the ‘Food and
Agricultural Organization’ of the UN with the pacing population.
The prominence of smart farming in the coming future is
bolstered with government census data. Various barriers and
driving factors that lead for the adaption of smart agriculture are
well interpreted.
Various domain uses IoT and Big-Data analysis as the key
technology for development. Sensor technology has also been
advancing and several fields like cloud computing and mobile
computing are reliable on it. Bringing together these two
advancements in technology opens a new range of applications
that can make life less complex. This is explained in [15] [17].
Smart agriculture is accomplished in this using IoT, sensors,
Cloud computing, Mobile computing, Data mining and Big-Data
analysis. The paper [16] proposes an electronic system based
implementation of cloud computing, Global System for Mobile
communication for monitoring a variety of environmental
parameters in greenhouse. Wide variety of sensors that can
measure temperature, light intensity, humidity and moisture levels
are used to make the production as prolific as possible. A new
smart GPS based remote controlled robot to perform tasks related
to fields like animal scaring, weeding, keeping track of variables,
sensing climatic changes has been proposed in [19] .A brief
overview of the need for IoT in agriculture and different sensors,
hardware and software that is available in the market can be
studied from it. A detailed technical review on the current sensor
based Automated Irrigation system is given in [20] along with an
overview of the need for automated irrigation.
In [24] [25] [26] author explained different methods to
accomplish background and foreground extraction. Several
methods of three frame differencing, background subtraction,
mixture of Gaussians, template matching, average mean filter,
average median filter are explained with flow charts and
mathematical representations among which normal background
subtraction is observed to suffice our need. Several complex edge
detection methods are also explained. In[27] different
morphological operations are discussed which include dilation,
erosion, hole filling ,opening, closing and so on.
3. PROBLEM FORMULATION
Till this day farming is being enforced using the same old ancient
and complex methods. Delay in any one step of farming can lead
to immutable loss. With the rapid increase in technology what can
be done to make this process less complex. Man labor in farming
is decreased with the help of newly emerging applications of
Internet of Things. How does the proposed farm bot help in
achieving small scale farming without any involvement of human
presence is seen. Farm bot could do planting, smart sowing and
delete the weed from the field. How does a farmer get a good
yield in the field with less stress and how we can eliminate weed
in our farm using Image Processing, is treated as the major goal.
4. PROPOSED MODEL
4.1 System Overview
The agricultural sector is facing many challenges in order to feed
the billions of people that inhabit the planet. Food production
needs to increase along with the increasing population. All of this
has to be achieved within the limited land available also, taking
into consideration other parameters such as climate changes,
limitation of water resources, etc. In order to counter all these
issues, smart agriculture is the best solution. Smart agriculture or
smart farming or precision farming uses sensing technology, to
make farms more intelligent, where they keep a lot of factors in
scrutiny and save a lot of non-renewable resources while helping
the crop yield maximum quantity with quality. The Farmbot is
one such device that is used for small scale farming. It can be
used by anyone to grow a wide variety of crops together in their
backyard.
An interactive web application is provided to the user where one
can easily configure and control their Farmbot from a web
browser on their laptops, desktops, tablets, or smartphones. The
application features real-time manual controls and logging, a
sequence builder for creating custom routines for FarmBot to
execute, and a drag-and-drop farm designer where someone can
drag and drop crops into their farm on the interface. Using this,
we can graphically design and manage our farm.
The web application takes some input commands from the user
and lets them design the farm. The MQTT gateway which is a
cloud application acts an intermediary for all messages between
the web app and Farm bot devices. This is how the Farm bot
communicates and understand the commands from the web app
given by the user.
3
Based off of all the inputs given by the user and the type of crops,
the Farm bot then divides the plot of land assigned for agriculture
use into different segments based on the plant requirements. The
Decision Support System (DSS) is a cloud service that uses the
best algorithms to optimize scheduled events based on the data
that is present in the database. The Farm bot is smart enough to
decide how much water a certain type of plant requires and based
on weather forecast or moisture content in the soil, it will also
decide whether to give more or less water.
A database is provided that has all information required for each
and every type of plant that is compatible with the Farm bot.
Raspberry Pi Controller is the brain of the Farm bot. The
Raspberry Pi is small sized single-board computer. It has several
pieces of software installed that allow the farm bot to
communicate with the web app, manage sequences and schedules,
as well as update its sensors, etc. It also uses a USB web cam that
can stream as well as take pictures which can be used to check the
progress as well as identify weeds which can hinder the plants
progress.
The Farm bot also uses Arduino Firmware that issue commands
to physically control motor drivers, rotary motors, etc., by
sending electrical impulses to them.
4.2 Hardware Implementation:
The interactive mobile app that has been provided to the user will
first ask the user to provide inputs for the app to continue further.
The app will then (based on the type of seeds we select from the
database) will divide the entire area into different segments. If the
same type of seeds are provided, then the entire area will be
divided equally as same seeds will take up similar amount of
space. If there are different seeds, the app will divide the
area/farm into different segments based on what is optimal from
the database.
Each seed needs to be planted at a certain depth into the soil for
optimal growth. The seed injector takes each seed and plants the
seed in the soil at that depth. The depth is taken from the database.
Every seed requires certain amount of water to grow optimally.
The amount of water required depending on the type of the seed is
given in the database. Water is then passed into the water nozzle
through a garden hose. The water nozzle accepts a concentrated
stream of water which is then turned into a gentle shower. The
database also has the information related to amount of water
required by each seed under various environmental conditions.
Since the location of the seed can be obtained from the database,
the water is distributed properly to its designated location. The
farm bot does this at regular intervals to the all the seeds/plants
based on their requirements.
The amount of light that a plant is exposed to is a very important
factor. Light intensity determines the rate of photosynthesis and
this can affect the growth of a plant immensely. The higher the
number of photons that come in contact with the plant, the more
number of chlorophyll molecules get ionized. This helps in the
plant producing more ATP and NADPH which is essential for the
plant. The farm field is equipped with different sensors to
measure the light intensity, temperature and humidity so that a
notification can be sent to take necessary steps if any required
environmental conditions are not met. The sensed valued are
displayed as shown in figure 2.

Figure 2. Sensor values on LCD Display.
Water is a very crucial element for the growth of a plant. Plants
which are not given sufficient amount of water will not grow
properly as they are not able to transport necessary nutrients from
one part of the plant to the other. Excessive water is also an issue
for a plant. If a plant is given too much water, then the roots of
the plants might rot, which in turn would result in less mineral
intake from the soil. The farm bot has a sensor which is able to
measure the moisture in the soil and determine whether each type
of plant requires more or less water. As the farm bot takes
moisture into consideration, the bot provides the plants with the
calculated amount of water, not more, not less.
An onboard camera is present on farm bot, which will take an
image of the plants from time to time to check whether any weeds
are growing along with the plants. Using Image Processing, plants
and weeds in the image are differentiated and the weeds are then
buried into the soil with the help of the weed remover tool.
4.3 Image Processing:
Image processing plays a major role in taking care of the plants
once grown. Weed should be recognized and removed regularly
to keep the plants healthy. For this a well adaptive image
processing techniques should be used that can work under
different conditions. The proposed image process is as follows.
Once the plant is grown to a stage, farm bot camera moves to the
centre of a plant where seed is planted. An image is captured and
cropped as per the size given to that particular seed. Then from
here image processing comes into play for weed detection and
removal. First phase involved is the foreground, background
extraction. Plants and weed is the foreground and the ground/soil
is the background that should be removed. Next is object
detection i.e., differentiating the plants and weeds in the image?
Our database also consists of information about what approximate
area (2 dimensional area from top) does each different type of
plant occupy after given number of days of growth. We compare
this area to the area of the objects (plants and weed) detected.
Object enclosing the location of the seed planted and whose area
is the range from database is considered the main plant. Rest
objects detected, which are out of range is considered as weed and
buried. Centroid of these objects can be considered as the co-
ordinates for this weed location.
4.3.1 Background Subtraction:
For the first phase of foreground and background extraction,
background subtraction is used. Background subtraction is the
core idea for a number of object detection algorithms. In
background subtraction a fixed image called background image is
used. Once the image with plant is captured, it is then subtracted
from this background image and the resulting image is then
subjected to the thresholding process to get the final output as a
logical (binary) image. This can be mathematically represented as
if | B( x, y)  f ( x, y) | Th then F ( x, y)  1
4
0 otherwise
Here,
B( x, y) is the corresponding pixel intensity value at
( x, y) coordinate of background image,
f ( x, y) is the image captured pixel value at ( x, y ) and
F ( x, y ) is the resulting binary image pixel value
at ( x, y ) .
Main challenge faced is that the background image (soil color)
though captured at the beginning, does not remain the same as
that of the soil color after the plant growth. This can happen
because of several factors like when watered, the soil color is dark
or even when plant shadow is on the soil. False detection can take
place and proposed simple background subtraction is not reliable.
To avoid this, complex edge detection techniques can be used to
detect the foreground but here, even simple and less complex
empirical method is proposed.
When the soil is watered or covered by shadow, soil as a whole or
part exhibits following properties.
1. This soil region is usually darker.
2. This region represents the same pixel values but under darker
illumination.
3. They share the same background texture pattern.
We use a simpler method of comparing the pixel values in plant
image and the background image, which has proven applicable to
a wide range of factors. After several experiments it can be
concluded that if 0.25  f ( x, y) / B( x, y)  0.93 then that
pixel can be considered as soil pixel only and made to 0(black).
The result obtained is filled with noise and hence, it is passed
through several morphological operations which include median
filter, closing, opening, erosion, dilation etc.
4.3.2Convex hull algorithm
Though the result obtained looks fair, every white object detected
is considered as a plant. Any part of the object with holes and
discontinuities has to be closed. So here convex hull is being used.
Convex hull algorithm, in simple terms can be explained as two
pixels of same object are connected with a straight line and any
pixel on the line is considered as a pixel of that object. This can
be called as a hole filling method and helps convert almost all
connected objects to blobs. Once this is achieved, we are left with
a binary image with blobs of plant and weed.
4.3.3 Identification of weed
A bounding box is plotted around each blob detected. Area and
centroid of each blob detected is calculated and stored in an array.
These areas now are compared to the area expected for that seed
and the blob representing the plant is located. Rest all blobs
identified are considered weed and centroid of the same are
passed to the bot. The bot considers these centroid co-ordinates as
the location of the weed and burry them inside. The results from
every step involved in image processing works are shown in
figures 3 and 4.

Figure 3. Steps involved in Image Processing.
Figure 4. Final Step in Image Processing.
The proposed image processing approach is seen to be optimal,
less complex and with no errors in various physical conditions.
Since, this process is not performed all day and repeated after a
brief amount of time(few days to weeks), high complex and
advanced methods such as Gaussian foreground extraction model
or adaptable background subtraction show no major advantage
over basic subtraction. In addition, the proposed empirical way of
pixel comparisons take care of the remaining minor subtraction
problems if exists.
5. PERFORMANCE EVALUATION
5.1. The FarmBot Web Application
The web application allows you to easily configure and control
your FarmBot from a web browser on your laptop, smartphone
and tablet. The web application features real-time manual controls
and logging, which builds a sequence for creating custom actions
for FarmBot to execute, and a drag and drop farm designer so any
one can graphically design and manage their farm.
5.2. MQTT Gateway
The MQTT Gateway is a cloud application that acts as an
intermediary for all messages between the FarmBot web
application and FarmBot device. It handles socket connections,
device identification, and authentication issues.
5
The hosted web application is already configured to use the
hosted MQTT Gateway service. All you have to do is enter in
your web application credentials using the FarmBot WiFi
Configurator, and then your FarmBot will be able to talk to the
web application over MQTT. The configuration needed for your
FarmBot will be stored in the authentication token that the web
application gives to your FarmBot during setup.
5.3. FarmBot Raspberry Pi Controller:
Raspberry Pi uses the software to maintain a connection and
synchronize with the web application. This allows FarmBot to
download and execute scheduled actions, be controlled in real-
time, and update logs and sensor data. The controller
communicates with the Arduino over USB to send and also
receive data.
6. CONCLUSION
This study proposed a sensible small scale farming using IoT.
Using the proposed model, an individual can maintain his own
farm in small gardens. Most of the hardware utilized is easily
acquired and cost efficient. Incorporating image processing to
avoid weed growth is seen to be reliable and the results shows
above are consistent with this fact. The proposed simple method
to recognize shadow or drenched soil as background is seen to be
effective and obviate the use of complex foreground extraction
techniques. As part of the future work, it can be extended to large
scale farming.
7. REFERENCES
[1] Luigi Atzori, Antonio Iera, Giacomo Morabito, “”smart
Objects” to “social Objects”: The Next Evolutionary Step of
the Internet of Things”, IEEE CommunicationsMagazine,
January 2014.
[2] Ken Cai, ”Internet of Things applied in Field Information
Monitoring”, Advances in information Sciences and Service
Sciences (AISS) Volume 4,Number 12,July 2012.
[3] White paper on “What the Internet of Things(IoT) Needs to
Become a Reality”/ freescale.com/IoT,arm.com, May 2014.
[4] V.C.Patil, K.A.A1-Gaadi, D.P.Biradar, M.Rangaswamy,
“INTERNET OF THINGS (IOT) AND CLOUD
COMPUTING FOR AGRICULTURE: AN OVERVIEW”,
Proceedings of AIPA 2012, INDIA
[5] Sheetal Israni, Harshal Meharkure, Parag Yelore,
“Application of IoT Bases System for Advance Agriculture
in India”: International Journal of Innovative Research on
Computer nd Communication Engineering November 2015.
[6] Dr. V .Vidya Devi,G. Meena Kumari, “Real- Time
Automation and Monitoring System for Modernized
Agriculture” ,International Journal of Review and Research
in Applied Sciences and Engineering (IJRRASE) Vol3 No.1.
PP 7-12, 2013
[7] Chandini. K., “A Literature Study on Agricultural Production
System Using IoT as Inclusive Technology”: Internatnal
Journal of Innovative Technology and Research Volume
4,number 1, December-January 2016.
[8] Narayanaswami, Chandra, and Mandayam T. Raghunath.
"Application design for a smart watch with a high resolution
display." iswc. IEEE, 2000.
[9] Hong ZHOU, BingWu LIU, PingPing DONG, “The
Technology System Framework of the Internet of Things and
its Application Research on Agriculture.”: School of
Information Science & Technology, Beijing Wuzi University,
Beijing, China.
[10] Shifeng Fang, Li Da Xu, Yungiang Zhu, Jiaerheng Ahati,
Huan Pei, Jianwu Yan, Zhihui Liu, “ An Integrated System
for Regional Environment Monitoring and Management
Based on Internet of Things”, IEEE TRANSACTIONS ON
INDUSTRIAL INFORMATICS, VOL. 10, NO.2, MAY 2014.
[11] Clement Atzberger, “Advances in Remote Sensing of
Agriculture: Context Description, Existing Operational
Monitoring Systems and Major Information Needs”, Remote
Sensing 2013, ISSN 2072-4292.
[12] Y. Kim, R. Evans and W. Iversen, “Remote Sensing and
Control of an Irrigation System Using a Distributed Wireless
Sensor Network”, IEEE Transactions on Instrumentation and
Measurement, pp. 1379–1387, 2008.
[13] Manikantan Krishnaswamy Ramakrishna, Prof.Jeff Dimaio,
“An Economical Wireless Sensor Network Based Solution
for Precision Agriculture” April, 2016.
[14] “Towards SMART FARMING, Agriculture Embracing the
IoT Vision”: Beecham Resarch Ltd.
[15] Hemlata Channe, Sukhesh Kothari, Diplai Kadam
“Multidisciplinary Model for Smart Agriculture using
Internet-of-Things(IoT), Sensors,Cloud-Computing,Mobile-
Computing & Big-Data Analysis” Int.J.Computer
Technology & Applications, Vol 6 (3).
[16] Keerthi.v, Dr.G.N.Kodandaramaiah, “Cloud IoT Based
Greenhouse Monitoring System” : Int.Journal of Engineering
Research and Applications Vol5, Issue 10, October 2015.
[17] Steve Sonka, “Big Data and the Ag Sector: More than Lots of
Numbers”, International Food and Agribusiness
Management Review Volume 17 Issue 1, 2014.
[18] G.V.Satyanarayana, SD.Mazaruddin, “Wireless Sensor Based
Remote Monitoring System for Agriculture Using ZigBee
and GPS”, Conference on Advances in Communication and
Control Systems 2013 (CAC2S 2013)
[19] Nikesh Gondchawar, R.S.Kawitkar, “IoT based Smart
Agriculture”: International Journal of Advanced Research in
Computer and Communication Engineering june 2016.
[20] Karan Kansara, Vishal Zaveri, Shreyans Shah, Sandip
Delwadhkar, Kaushal Jani, “Sensor based Automated System
with IOT: A Technical Review”: International Journal of
Computer Science and Information Technologies, Vol 6.
[21] J. Wu, Z. Liu, J. Li, C. Gu, M. Si and F. Tan, “An Algorithm
for Automatic Vehicle Speed Detection using Video Camera”,
International Conference on Computer Science & Education,
2009 IEEE, ICCSE 2009, pp. 193-196, Nanning 25-28 July
2009
[22] D.Rajesh, “Application of Spatial Data Mining for
Agriculture”, International Journal of Computer Applications
(0975-8887) Volume 15-No.2, February 2011.
[23] Venkata Naga RohitGunturi, “Micro Controller Based
Automatic Plant Irrigation System”, International Journal of
Advancements in Research & Technology, Volume 2, Issue4,
April-2013.
[24] N. Prabhakar, V. Vaithiyanathan, A. P. Sharma, A. Singh and
P. Singhal, “Object Tracking Using Frame Differencing and
Template Matching”, Research Journal of Applied Sciences,
Engineering and Technology, Vol. 4(24) pp. 5497-5501,
December 2012.
[25] M. Piccardi, "Background subtraction techniques: a
review", International Conference on Systems, Man and
Cybernetics, 2004 IEEE, Vol. 4, pp. 3099-3104, 10-13
October 2004.
[26] H. Zhang and K. Wu, “A Vehicle Detection Algorithm Based
on Three-frame Differencing and Background Subtraction”,
Fifth International Symposium on Computational Intelligence
and Design, 2012 IEEE, ISCID 2012, pp. 148-151,
Hangzhou 28-29 October 2012
[27] I. Kartika, and S.S. Mohamed, "Frame differencing with
post-processing techniques for moving object detection in
outdoor environment", 7th International Colloquium
on Signal Processing and its Applications, 2011 IEEE, CSPA
2011, pp. 172-176, Penang 4-6 March 2011.