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Multisensory System for Fruit Harvesting Robots. Experimental Testing in Natural Scenarios and with Different Kinds of Crops

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Multisensory-System-Fruit Harvesting-Robots.pdf (8.869Mb)
Date
2010-12-04
2010-12-04
Author
Montes Franceschi, Héctor
Fernández, Roemi
Salinas, Carlota
Sarria, Javier
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Abstract
The motivation of this research was to explore the feasibility of detecting and locating fruits from different kinds of crops in natural scenarios. To this end, a unique, modular and easily adaptable multisensory system and a set of associated pre-processing algorithms are proposed. The offered multisensory rig combines a high resolution colour camera and a multispectral system for the detection of fruits, as well as for the discrimination of the different elements of the plants, and a Time-Of-Flight (TOF) camera that provides fast acquisition of distances enabling the localisation of the targets in the coordinate space. A controlled lighting system completes the set-up, increasing its flexibility for being used in different working conditions. The pre-processing algorithms designed for the proposed multisensory system include a pixel-based classification algorithm that labels areas of interest that belong to fruits and a registration algorithm that combines the results of the aforementioned classification algorithm with the data provided by the TOF camera for the 3D reconstruction of the desired regions. Several experimental tests have been carried out in outdoors conditions in order to validate the capabilities of the proposed system.
URL
http://www.mdpi.com/1424-8220/14/12/23885/htm
URI
http://ridda2.utp.ac.pa/handle/123456789/4734
http://ridda2.utp.ac.pa/handle/123456789/4734
Collections
  • Facultad de Ingeniería Eléctrica [111]
License
https://creativecommons.org/licenses/by-nc-sa/4.0/
info:eu-repo/semantics/openAccess

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Este repositorio utiliza la Licencia CC BY-NC-SA y funciona bajo DSpace.

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