Kusumam, Keerthy and Krajnik, Tomas and Pearson, Simon and Cielniak, Grzegorz and Duckett, Tom (2016) Can you pick a broccoli? 3D-vision based detection and localisation of broccoli heads in the field. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 9-14 October 2016, Daejeon, Korea.
broc.pdf - Whole Document
|Item Type:||Conference or Workshop contribution (Presentation)|
|Item Status:||Live Archive|
This paper presents a 3D vision system for robotic harvesting of broccoli using low-cost RGB-D sensors. The presented method addresses the tasks of detecting mature broccoli heads in the field and providing their 3D locations relative to the vehicle. The paper evaluates different 3D features, machine learning and temporal filtering methods for detection of broccoli heads. Our experiments show that a combination of Viewpoint Feature Histograms, Support Vector Machine classifier and a temporal filter to track the detected heads results in a system that detects broccoli heads with 95.2% precision. We also show that the temporal filtering can be used to generate a 3D map of the broccoli head positions in the field.
|Keywords:||robotic vision, RGB-D sensing, field robotics, automated harvesting|
|Subjects:||H Engineering > H670 Robotics and Cybernetics|
G Mathematical and Computer Sciences > G740 Computer Vision
|Divisions:||College of Science > School of Computer Science|
|Deposited On:||09 Sep 2016 19:53|
Repository Staff Only: item control page