Can you pick a broccoli? 3D-vision based detection and localisation of broccoli heads in the field

IEEE International Conference on Intelligent Robots and Systems

Volumn 2016-November, Issue , 2016, Pages 646-651

  Kusumam, Keerthy ^a   Krajník, Tomáš ^a   Pearson, Simon ^a   Cielniak, Grzegorz ^a   Duckett, Tom ^a  

^a UNIVERSITY OF LINCOLN   (United Kingdom)

Author keywords

Automated harvesting; Field robotics; RGB D sensing; Robotic vision

Indexed keywords

FEATURE EXTRACTION; INTELLIGENT ROBOTS; LEARNING SYSTEMS; ROBOTICS;

3-D VISION SYSTEMS; FIELD ROBOTICS; RGB-D SENSING; RGB-D SENSORS; ROBOTIC VISION; SUPPORT VECTOR MACHINE CLASSIFIERS; TEMPORAL FILTERING; TEMPORAL FILTERS;

COMPUTER VISION;

EID: 85006368868     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2016.7759121     Document Type: Conference Paper

References (23)

1. C. L. McCarthy, N. H. Hancock, and S. R. Raine, "Applied machine vision of plants: a review with implications for field deployment in automated farming operations", Intelligent Service Robotics, vol. 3, no. 4, pp. 209-217, 2010.
2. A. Jimenez, R. Ceres, and J. Pons, "A survey of computer vision methods for locating fruit on trees", Transactions of the ASAE, vol. 43, no. 6, p. 1911, 2000.
3. S. Hayashi, K. Shigematsu, S. Yamamoto, K. Kobayashi, Y. Kohno, J. Kamata, and M. Kurita, "Evaluation of a strawberry-harvesting robot in a field test", Biosystems Engineering, vol. 105, no. 2, pp. 160-171, 2010.
4. W. Ji, D. Zhao, F. Cheng, B. Xu, Y. Zhang, and J. Wang, "Automatic recognition vision system guided for apple harvesting robot", Computers & Electrical Engineering, vol. 38, no. 5, pp. 1186-1195, 2012.
5. H. Okamoto and W. S. Lee, "Machine vision for green citrus detection in tree images", Environmental Control in Biology, vol. 48, no. 2, pp. 93-99, 2010.
6. J. P. Wachs, H. Stern, T. Burks, and V. Alchanatis, "Low and highlevel visual feature-based apple detection from multi-modal images", Precision Agriculture, vol. 11, no. 6, pp. 717-735, 2010.
7. S. Haug, A. Michaels, P. Biber, and J. Ostermann, "Plant classification system for crop/weed discrimination without segmentation", in Applications of Computer Vision (WACV), 2014 IEEE Winter Conference on. IEEE, 2014, pp. 1142-1149.
8. I. Sa, C. McCool, C. Lehnert, and T. Perez, "On visual detection of highly-occluded objects for harvesting automation in horticulture", in Proc. ICRA, Seattle, Washington, May 26-30 2015.
9. K. Kapach, E. Barnea, R. Mairon, Y. Edan, and O. Ben-Shahar, "Computer vision for fruit harvesting robots-state of the art and challenges ahead", Int. J. Computational Vision and Robotics, vol. 3, no. 1-2, pp. 4-34, 2012.
10. E. Barnea, R. Mairon, and O. Ben-Shahar, "Colour-agnostic shapebased 3D fruit detection for crop harvesting robots", Biosystems Engineering, 2016.
11. E. J. van Henten, J. Hemming, B. Van Tuijl, J. Kornet, J. Meuleman, J. Bontsema, and E. Van Os, "An autonomous robot for harvesting cucumbers in greenhouses", Autonomous Robots, vol. 13, no. 3, pp. 241-258, 2002.
12. U. Weiss and P. Biber, "Plant detection and mapping for agricultural robots using a 3D LIDAR sensor", Robot. Auton. Syst., vol. 59, no. 5, pp. 265-273, May 2011. [Online]. Available: http://dx.doi.org/10.1016/j.robot.2011.02.011
13. J. Gai, L. Tang, and B. Steward, "Plant recognition through the fusion of 2D and 3D images for robotic weeding", in 2015 ASABE Annual International Meeting. American Society of Agricultural and Biological Engineers, 2015, p. 1.
14. T. T. Nguyen, K. Vandevoorde, E. Kayacan, J. De Baerdemaeker, and W. Saeys, "Apple detection algorithm for robotic harvesting using a RGB-D camera", in International Conference of Agricultural Engineering, Zurich, Switzerland, 2014.
15. R. A. Ramirez, "Computer vision based analysis of broccoli for application in a selective autonomous harvester", Master's thesis, Virginia Polytechnic Institute and State University, July 2006.
16. K. Tu, K. Ren, L. Pan, and H. Li, "A study of broccoli grading system based on machine vision and neural networks", in Proc. ICMA. IEEE, 2007, pp. 2332-2336.
17. P. Fankhauser, M. Bloesch, D. Rodriguez, R. Kaestner, M. Hutter, and R. Siegwart, "Kinect v2 for mobile robot navigation: Evaluation and modeling", in in Proc. ICAR, 2015, pp. 388-394.
18. R. B. Rusu and S. Cousins, "3D is here: Point Cloud Library (PCL)", in Proc. ICRA, Shanghai, China, May 9-13 2011.
19. R. B. Rusu, G. Bradski, R. Thibaux, and J. Hsu, "Fast 3d recognition and pose using the viewpoint feature histogram", in Proc. IROS, 2010, pp. 2155-2162.
20. A. Aldoma, M. Vincze, N. Blodow, D. Gossow, S. Gedikli, R. B. Rusu, and G. Bradski, "CAD-model recognition and 6DOF pose estimation using 3D cues", in IEEE International Conference on Computer Vision Workshops, Barcelona, Spain, Nov. 6-13 2011, pp. 585-592.
21. A. Karpathy, S. Miller, and L. Fei-Fei, "Object discovery in 3d scenes via shape analysis", in Proc. ICRA, 2013, pp. 2088-2095.
22. T. Krajník et al., "Simple yet stable bearing-only navigation", Journal of Field Robotics, vol. 27, no. 5, pp. 511-533, 2010.
23. M. Everingham, L. Van Gool, C. K. Williams, J. Winn, and A. Zisserman, "The PASCAL visual object classes (VOC) challenge", International Journal of Computer Vision, vol. 88, no. 2, pp. 303-338, 2010.