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dc.contributor.authorMontes Franceschi, Héctor
dc.contributor.authorFernández, Roemi
dc.contributor.authorSalinas, Carlota
dc.contributor.authorSarria, Javier
dc.date.accessioned2018-05-03T12:47:02Z
dc.date.available2018-05-03T12:47:02Z
dc.date.issued2010-12-04
dc.identifierhttp://www.mdpi.com/1424-8220/14/12/23885/htm
dc.identifier.issn1424-8220
dc.identifier.urihttp://ridda2.utp.ac.pa/handle/123456789/4734
dc.descriptionThe 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.en_US
dc.description.abstractThe 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.en_US
dc.language.isoengen_US
dc.rightshttps://creativecommons.org/licenses/by-nc-sa/4.0/
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subjectprecision agricultureen_US
dc.subjectfruit detectionen_US
dc.subjectmultisensory systemen_US
dc.subjecttime-of-flight cameraen_US
dc.subjectmultispectral systemen_US
dc.subjectoptical filtersen_US
dc.titleMultisensory System for Fruit Harvesting Robots. Experimental Testing in Natural Scenarios and with Different Kinds of Cropsen_US
dc.typeinfo:eu-repo/semantics/article
dc.typeinfo:eu-repo/semantics/publishedVersion


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