Mobile camera system to autonomously obtain and process images to predict grape quality

A method to autonomously obtain and process images to predict grape quality includes acquiring first image data, detecting an object based on the first image data, determining a location of the object based on the first image data, acquiring second image data based on the location of the object, and analyzing the second image data to determine a characteristic of the object. The second image data includes hyperspectral image data. 1010 MOVE VEHICLE TO WAYPOINT 1020 TURN ON LED TAKE AND LOCALLY STORE 1030 COLOR PICTURE WITH RGB TAKE PICTURE WITH DEPTH 1040 CAMERA 1050 TURN OFF LED DETERMINE 2D LOCATION OF 1060 GRAPEBUNCH 1061: NO 1062: YES DETERMINE 3D LOCATION OF 1065 GRAPEBUNCH DETERMINE IF CARTESIAN ARM CAN BE MANIPULATED TO 1071: NO MOVE HSI CAMERATO 1070 DISTANCE OF ABOUT ONE FOOT FROM THE GRAPE BUNCH LOCATION 1072: YES 1080 MOVE CARTESIAN ARM 1090 TURN ON HALOGEN LIGHT 4 1151: NO TAKE AND LOCALLY STORE 1150 MOREWAYPOINTS 1100 PICTURE WITH HSI CAMERA 1152:YES WHILE PANNING HSI CAMERA ACROSSGRAPE BUNCH 1141:NO H1140 MOREGRAPE 1142:YES 1110 TURN OFF HALOGEN LIGHT PROCESS HSI PICTURE TO 1130 TRANSMIT PREDICTION 1120 DETERMINE PREDICTION DATA, DATA AND COLOR AND LOCALLY STORE PICTURE PREDICTION DATA