Real-time Stereo Visual Servoing for Rose Pruning with Robotic Arm
| Autor: | Angelo Mencarelli, Radim Tylecek, Robert B. Fisher, Bart van Tuijl, Hanz Cuevas-Velasquez, Antonio-Javier Gallego, Jochen Hemming |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Crop Physiology business.industry Computer science GTB Teelt & Gewasfysiologie A 02 engineering and technology Visual servoing Pipeline (software) Tree (data structure) 020901 industrial engineering & automation GTB Tuinbouw Technologie 0202 electrical engineering electronic engineering information engineering Robot Life Science 020201 artificial intelligence & image processing Computer vision Artificial intelligence business Gewasfysiologie Robotic arm Stereo camera Pruning (morphology) |
| Zdroj: | Cuevas Velasquez, H, Gallego, A-J, Tylecek, R, Hemming, J, van Tuijl, B, Mencarelli, A & Fisher, R B 2020, Real-time Stereo Visual Servoing for Rose Pruning with Robotic Arm . in 2020 IEEE International Conference on Robotics and Automation (ICRA) . Institute of Electrical and Electronics Engineers (IEEE), pp. 7050-7056, 2020 International Conference on Robotics and Automation, Virtual conference, France, 31/05/20 . https://doi.org/10.1109/ICRA40945.2020.9197272 ICRA |
| DOI: | 10.1109/icra40945.2020.9197272 |
| Popis: | The paper presents a working pipeline which integrates hardware and software in an automated robotic rose cutter. To the best of our knowledge, this is the first robot able to prune rose bushes in a natural environment. Unlike similar approaches like tree stem cutting, the proposed method does not require to scan the full plant, have multiple cameras around the bush, or assume that a stem does not move. It relies on a single stereo camera mounted on the end-effector of the robot and real-time visual servoing to navigate to the desired cutting location on the stem. The evaluation of the whole pipeline shows a good performance in a garden with unconstrained conditions, where finding and approaching a specific location on a stem is challenging due to occlusions caused by other stems and dynamic changes caused by the wind. |
| Databáze: | OpenAIRE |
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