Peduncle Detection of Sweet Pepper for Autonomous Crop Harvesting-Combined Color and 3-D Information

IEEE Robotics and Automation Letters

Volumn 2, Issue 2, 2017, Pages 765-772

  Sa, Inkyu ^a,b   Lehnert, Chris ^a   English, Andrew ^a   McCool, Chris ^a   Dayoub, Feras ^a   Upcroft, Ben ^a   Perez, Tristan ^a  

^a QUEENSLAND UNIVERSITY OF TECHNOLOGY   (Australia)

^b ETH ZURICH   (Switzerland)

Author keywords

Agricultural automation; computer vision for automation; RGB D perception; Robotics in agriculture and forestry

Indexed keywords

CHEMICAL DETECTION; CROPS; FORESTRY; HARVESTING;

AREA UNDER THE CURVE (AUC); DETECTION PRECISION; GEOMETRY INFORMATION; QUANTITATIVE RESULT; RESEARCH COMMUNITIES; SUPERVISED LEARNING APPROACHES; THREEDIMENSIONAL (3-D); VISUAL DETECTION;

DAMAGE DETECTION;

EID: 85058585353     PISSN: None     EISSN: 23773766     Source Type: Journal    
DOI: 10.1109/LRA.2017.2651952     Document Type: Article

References (29)

1. N. Kondo, M. Monta, N. Noguchi, Agricultural Robots: Mechanisms and Practice. Vester Skerninge, Denmark: Apollo Books, 2011.
2. A. English, P. Ross, D. Ball, P. Corke, "Vision based guidance for robot navigation in agriculture, " in Proc. IEEE Int. Conf. Robot. Autom., 2014, pp. 1693-1698.
3. D. Ball, et al., "Vision-based obstacle detection and navigation for an agricultural robot, " J. Field Robot., vol. 33, no. 8, pp. 1107-1130, 2016. [Online]. Available: http://dx. doi. org/10. 1002/rob. 21644
4. I. Sa, C. McCool, C. Lehnert, T. Perez, "On visual detection of highly-occluded objects for harvesting automation in horticulture, " in Proc. IEEE Int. Conf. Robot. Autom. Workshop Robot. Agriculture, 2015, Paper 90394.
5. C. McCool, I. Sa, F. Dayoub, C. Lehnert, T. Perez, B. Upcroft, "Visual detection of occluded crop: For automated harvesting, " in Proc. IEEE Int. Conf. Robot. Autom., 2016, pp. 2506-2512.
6. C. Lehnert, I. Sa, C. McCool, B. Upcroft, T. Perez, "Sweet pepper pose detection and grasping for automated crop harvesting, " in Proc. IEEE Int. Conf. Robot. Autom., 2016, pp. 2428-2434.
7. C. W. Bac, E. J. Henten, J. Hemming, Y. Edan, "Harvesting robots for high-value crops: State-of-the-art review and challenges ahead, " J. Field Robot., vol. 31, no. 6, pp. 888-911, 2014.
8. S. Kitamura, K. Oka, F. Takeda, "Development of picking robot in greenhouse horticulture, " in Proc. SICE Annu. Conf., Okayama, Japan, Aug. 2005, pp. 8-10.
9. J. Blasco, N. Aleixos, E. Moltó, "Machine vision system for automatic quality grading of fruit, " Biosyst. Eng., vol. 85, no. 4, pp. 415-423, 2003.
10. L. A. Ruiz, E. Moltó, F. Juste, F. Plá, R. Valiente, "Location and characterization of the stem-calyx area on oranges by computer vision, " J. Agricultural Eng. Res., vol. 64, no. 3, pp. 165-172, 1996.
11. C. Bac, J. Hemming, E. van Henten, "Robust pixel-based classification of obstacles for robotic harvesting of sweet-pepper, " Comput. Electron. Agriculture, vol. 96, pp. 148-162, 2013. [Online]. Available: http://www. sciencedirect. com/science/article/pii/S0168169913001099
12. I. Sa, Z. Ge, F. Dayoub, B. Upcroft, T. Perez, C. McCool, "Deepfruits: A fruit detection system using deep neural networks, " Sensors, vol. 16, no. 8, 2016, Art. no. 1222.
13. R. A. Newcombe, et al., "Kinectfusion: Real-time dense surface mapping and tracking, " in Proc. 10th IEEE Int. Symp. Mixed Augmented Reality, 2011, pp. 127-136.
14. R. B. Rusu, N. Blodow, M. Beetz, "Fast point feature histograms (FPFH) for 3D registration, " in Proc. IEEE Int. Conf. Robot. Autom., 2009, pp. 3212-3217.
15. S. Cubero, M. P. Diago, J. Blasco, J. Tardáguila, B. Millán, N. Aleixos, "A new method for pedicel/peduncle detection and size assessment of grapevine berries and other fruits by image analysis, " Biosyst. Eng., vol. 117, pp. 62-72, 2014. [Online]. Available: http://www. sciencedirect. com/science/article/pii/S1537511013000950
16. D. Dey, L. Mummert, R. Sukthankar, "Classification of plant structures from uncalibrated image sequences, " in Proc. IEEE Workshop Appl. Comput. Vis., 2012, pp. 329-336.
17. J. Hemming, et al., "A robot for harvesting sweet-pepper in greenhouses, " in Proc. Int. Conf. Agricultural Eng., Zürich, Switzerland, Jul. 2014, pp. 1-8.
18. S. Paulus, J. Dupuis, A.-K. Mahlein, H. Kuhlmann, "Surface feature based classification of plant organs from 3D laserscanned point clouds for plant phenotyping, " BMC Bioinformat., vol. 14, Jan. 2013, Art. no. 238. [Online]. Available: http://www. pubmedcentral. nih. gov/articlerender. fcgi?artid=3750309&to ol=pmcentrez&rendertype=abstract
19. M. Wahabzada, S. Paulus, K. Kersting, A.-K. Mahlein, "Automated interpretation of 3D laserscanned point clouds for plant organ segmentation, " BMC Bioinformat., vol. 16, no. 1, 2015, Art. no. 248. [Online]. Available: http://www. biomedcentral. com/1471-2105/16/248
20. S. Hayashi, et al., "Evaluation of a strawberry-harvesting robot in a field test, " Biosyst. Eng., vol. 105, no. 2, pp. 160-171, 2010.
21. R. B. Rusu, A. Holzbach, M. Beetz, G. Bradski, "Detecting and segmenting objects for mobile manipulation, " in Proc. IEEE 12th Int. Conf. Comput. Vis. Workshops, 2009, pp. 47-54.
22. M. Tkalcic and J. F. Tasic, "Colour spaces: Perceptual, historical and applicational background, " in Proc. Eurocon, 2003, pp. 304-308.
23. A. Aldoma, et al., "Tutorial: Point cloud library: Three-dimensional object recognition and 6 DOF pose estimation, " IEEE Robot. Autom. Mag., vol. 19, no. 3, pp. 80-91, Sep. 2012, doi: 10. 1109/MRA. 2012. 2206675.
24. C. M. Bishop, Pattern Recognition and Machine Learning. Berlin, Germany: Springer-Verlag, 2006.
25. R. B. Rusu and S. Cousins, "3D is here: Point cloud library (PCL), " in Proc. IEEE Int. Conf. Robot. Autom., 2011, pp. 1-4.
26. M. Quigley, et al., "Ros: An open-source robot operating system, " in Proc. ICRA Workshop Open Source Softw., 2009, vol. 3, no. 3. 2, Paper. 5.
27. F. Pedregosa, et al., "Scikit-learn: Machine learning in Python, " J. Mach. Learn. Res., vol. 12, pp. 2825-2830, 2011.
28. I. Guyon, "A scaling law for the validation-set training-set size ratio, " AT&T Bell Lab., pp. 1-11, 1997.
29. N. Cornelis and L. V. Gool, "Fast scale invariant feature detection and matching on programmable graphics hardware, " in Proc. IEEE Comput. Soc. Conf. Comput. Vis. Pattern Recognit. Workshops, 2008, pp. 1-8.