本文章使用無人旋翼機結合無人多足地面機取得果樹可見光與近紅外光影像，運用影像資訊進行光譜分析與建立三維模型應用於果樹生長監控系統。無人旋翼機飛行藉由比例積分微分控制器 (PID) 控制，依照路徑規劃，使無人旋翼機自動飛行收集果樹影像資訊；透過實時動態載波相位差分技術定位，誤差只達公分等級；空中的無人旋翼機加上地面的無人多足地面機，藉由上中下多角度影像疊合、立體視覺法與三角網格建模技術來建立三維模型，達到果樹生長情形的監控。

This article using unmanned aerial vehicle (UAV) combined with the multi-footed unmanned ground vehicle (UGV) to obtain visible and near-infrared images of the crowns of fruit trees. Using image information for spectral analysis and to build three-dimensional model apply in fruit tree growth monitoring systems. UAV flight is controlled by PID controller. Along with the path planning, the UAV automatically collects the image information of the crowns. Through the self-developed real-time kinematic (RTK) module, the positioning error is only up to the cm level. The UAV fly in the air and the multi-foot UGV simultaneously move in the ground to obtain the multi-angle images. Using registration multi-view images, stereo vision and mesh segmentation modeling technology could construct a three-dimensional model to achieve the monitoring of fruit tree growth.