Jakob Geipel
Research Scientist
Biography
Jakob is a researcher and expert for sensors and the use of satellites, drones, tractors and robots for data acquisition in agriculture. He works amongst others with multi- and hyperspectral remote sensing, image processing and modelling of plant properties with focus on yield- and quality estimations for precision agriculture applications. His field of research comprises forage, grain and potato production.
CV
Education:
2012-2016: Dr. sc. agr. (Ph.D.) in Agricultural Sciences at the Institute of Crop Science, Department of Agronomy, University of Hohenheim, Germany
2009-2012: M.Sc. in Geoinformatics at the Institute for Geoinformatics, University of Münster, Germany
2005-2009: Dipl.-Ing. (FH) in Surveying Engineering and Geoinformatics at the University of Applied Sciences Würzburg-Schweinfurt, Germany
Abstract
Neural Radiance Fields (NeRF) have been widely adopted for reconstructing high-quality 3D scenes from 2D RGB images. However, achieving accurate 3D object segmentation within these reconstructed scenes remains challenging. Existing NeRF-based segmentation methods either rely on post-processing (SA3D), which produces noisy point clouds due to the absence of density field optimization, or employ joint training with additional segmentation heads (FruitNeRF), which can lead to suboptimal performance due to conflicting learning objectives. In this work, we propose InvNeRF-Seg (Input-substitution NeRF for Segmentation), a two-stage fine-tuning strategy for 3D object segmentation that preserves the original NeRF architecture and loss function entirely. We first train a standard NeRF on RGB images and then fine-tune it using 2D segmentation masks formatted as RGB-like inputs, without introducing any architectural modifications or additional loss functions. This input-substitution approach reshapes the density field to align with object regions while suppressing background density. We validate InvNeRF-Seg through comprehensive ablation studies examining the roles of density and color MLPs, loss function choices, and training strategies. Field density analysis reveals consistent semantic refinement: densities of object regions increase while background densities are suppressed. Experiments on synthetic fruit datasets and real-world soybean imagery demonstrate that InvNeRF-Seg produces cleaner 3D segmented point clouds compared to both SA3D and FruitNeRF, enabling more accurate downstream object counting. The method is further validated on a self-collected soybean dataset to demonstrate its applicability in real-world agricultural scenarios.
Abstract
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Authors
Jakob Geipel Therese With Berge Krzysztof Kusnierek Kristian Sæther Malin Larsen Græsdahl Ingeborg Hogne Kristian Rindal Thor Johannes RognebyAbstract
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Division of Biotechnology and Plant Health
SOLUTIONS: New solutions for potato canopy desiccation, control of weeds and runners in field strawberries & weed control in apple orchards
Efficient measures for weed control and similar challenges are vital to avoid crop loss in agriculture. National supply of food, feed and other agricultural products depends on each farmer’s success managing their fields and orchards. The recent loss of the herbicide diquat, and the potential ban on glyphosate, - both important tools for farmers -, raise a demand for new measures for vegetation control. Efficient alternatives to herbicides are also important tools in Integrated Pest Management (IPM). Norwegian growers need to document compliance to IPM since 2015 to ensure minimum hazards to health and environment from pesticide use.
Division of Food Production and Society
Techgraze – Integrating Advanced Technologies for Enhanced Grazing Practices in Norway
In Norway, a declining grazing pressure and farm abandonment have led to undesirable ecological and socio-economic outcomes. The TechGraze project aims to address these challenges by integrating Virtual Fencing (VF) and Remote Sensing (RS) technologies to enhance pasture-based livestock management.