Stollmeier, FrankWill, Jens ChristianHomann, HannoDörr, JörgSteckel, Thilo2025-02-042025-02-042025978-3-88579-802-6https://dl.gi.de/handle/20.500.12116/45708In precision farming, detecting the ground surface is crucial for optimizing different processes, such as sowing, weeding, and growth monitoring. This research introduces a method to estimate the ground surface using a single monocular RGB camera, which is both cost-effective and simple. The camera captures overlapping images as it moves along the field, and feature points from these images are matched to create a 3D point cloud. Points are classified as ground or plant using the Triangular Greenness Index (TGI), allowing the filtering of plants to isolate the ground. The proposed method is validated quantitatively in comparison with a stereo camera.enmonocular cameraground surface estimationprecision farmingfeature matchingText/Conference Paper10.18420/giljt2025_482944-76822944-7682