Work

Optimal view point and kinematic control for grape stem detection and cutting with an in-hand camera robot

Year: 2024

Type: conference-paper

Abstract: In this work, a methodology to find the best view of a grape stem and approach angle in order to crop it is proposed. The control scheme is based only on a classified point cloud obtained by the in-hand camera attached to the robot’s end effector without continuous stem tracking. It is shown that the proposed controller finds and reaches the optimal view point and subsequently the stem fast and efficiently, accelerating the overall harvesting procedure. The proposed control scheme is evaluated through experiments in the lab with a UR5e robot with an in-hand RealSense camera on a mock-up vine.

Source: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI: 10.1109/iros58592.2024.10802572

Authors: Sotiris Stavridis, Zoe Doulgeri

Institution: Aristotle University of Thessaloniki

Language: English

Topic: Smart Agriculture and AI

Subfield: Plant Science

Field: Agricultural and Biological Sciences

Domain: Life Sciences

SDG: Zero hunger

Open Access status: green

Funder: European Commission