Multisensory System for Fruit Harvesting Robots. Experimental Testing in Natural Scenarios and with Different Kinds of Crops
The 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 mult...
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| Sprache: | Englisch |
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2010
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| Online-Zugang: | http://www.mdpi.com/1424-8220/14/12/23885/htm http://ridda2.utp.ac.pa/handle/123456789/4734 |
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| _version_ | 1869652463561211904 |
|---|---|
| author | Montes Franceschi, Héctor |
| author2 | Fernández, Roemi Salinas, Carlota Sarria, Javier |
| author2_role | author author author |
| author_browse | Fernández, Roemi Montes Franceschi, Héctor Salinas, Carlota Sarria, Javier |
| author_facet | Montes Franceschi, Héctor Fernández, Roemi Salinas, Carlota Sarria, Javier |
| author_role | author |
| collection | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| dc.creator.none.fl_str_mv | Montes Franceschi, Héctor Fernández, Roemi Salinas, Carlota Sarria, Javier |
| dc.date.none.fl_str_mv | 2010-12-04 2010-12-04 2018-05-03T12:47:02Z 2018-05-03T12:47:02Z 2018-05-03T12:47:02Z 2018-05-03T12:47:02Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://www.mdpi.com/1424-8220/14/12/23885/htm 1424-8220 http://ridda2.utp.ac.pa/handle/123456789/4734 http://ridda2.utp.ac.pa/handle/123456789/4734 |
| dc.language.none.fl_str_mv | eng eng |
| dc.rights.none.fl_str_mv | https://creativecommons.org/licenses/by-nc-sa/4.0/ info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTP instname:Universidad Tecnológica de Panamá instacron:U Tecnológica de Panamá |
| dc.subject.none.fl_str_mv | precision agriculture fruit detection multisensory system time-of-flight camera multispectral system optical filters precision agriculture fruit detection multisensory system time-of-flight camera multispectral system optical filters |
| dc.title.none.fl_str_mv | Multisensory System for Fruit Harvesting Robots. Experimental Testing in Natural Scenarios and with Different Kinds of Crops |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
| description | The 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. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | lrtest_5abd6b05b1727ed366646df13d5e5f9b |
| identifier_str_mv | 1424-8220 |
| instacron_str | U Tecnológica de Panamá |
| institution | U Tecnológica de Panamá |
| instname_str | Universidad Tecnológica de Panamá |
| language | eng |
| network_acronym_str | lrtest |
| network_name_str | lr |
| oai_identifier_str | oai:ridda2.utp.ac.pa:123456789/4734 |
| publishDate | 2010 |
| publishDateSort | 2010 |
| reponame_str | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| rights_invalid_str_mv | https://creativecommons.org/licenses/by-nc-sa/4.0/ |
| spelling | Multisensory System for Fruit Harvesting Robots. Experimental Testing in Natural Scenarios and with Different Kinds of CropsMontes Franceschi, HéctorFernández, RoemiSalinas, CarlotaSarria, Javierprecision agriculturefruit detectionmultisensory systemtime-of-flight cameramultispectral systemoptical filtersprecision agriculturefruit detectionmultisensory systemtime-of-flight cameramultispectral systemoptical filtersThe 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.The 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.2018-05-03T12:47:02Z2018-05-03T12:47:02Z2018-05-03T12:47:02Z2018-05-03T12:47:02Z2010-12-042010-12-04info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://www.mdpi.com/1424-8220/14/12/23885/htm1424-8220http://ridda2.utp.ac.pa/handle/123456789/4734http://ridda2.utp.ac.pa/handle/123456789/4734engenghttps://creativecommons.org/licenses/by-nc-sa/4.0/info:eu-repo/semantics/openAccessreponame:Repositorio Institucional de documento digitales de acceso abierto de la UTPinstname:Universidad Tecnológica de Panamáinstacron:U Tecnológica de Panamáoai:ridda2.utp.ac.pa:123456789/47342021-07-06T15:34:48Z |
| spellingShingle | Multisensory System for Fruit Harvesting Robots. Experimental Testing in Natural Scenarios and with Different Kinds of Crops Montes Franceschi, Héctor precision agriculture fruit detection multisensory system time-of-flight camera multispectral system optical filters precision agriculture fruit detection multisensory system time-of-flight camera multispectral system optical filters |
| status_str | publishedVersion |
| title | Multisensory System for Fruit Harvesting Robots. Experimental Testing in Natural Scenarios and with Different Kinds of Crops |
| title_full | Multisensory System for Fruit Harvesting Robots. Experimental Testing in Natural Scenarios and with Different Kinds of Crops |
| title_fullStr | Multisensory System for Fruit Harvesting Robots. Experimental Testing in Natural Scenarios and with Different Kinds of Crops |
| title_full_unstemmed | Multisensory System for Fruit Harvesting Robots. Experimental Testing in Natural Scenarios and with Different Kinds of Crops |
| title_short | Multisensory System for Fruit Harvesting Robots. Experimental Testing in Natural Scenarios and with Different Kinds of Crops |
| title_sort | Multisensory System for Fruit Harvesting Robots. Experimental Testing in Natural Scenarios and with Different Kinds of Crops |
| topic | precision agriculture fruit detection multisensory system time-of-flight camera multispectral system optical filters precision agriculture fruit detection multisensory system time-of-flight camera multispectral system optical filters |
| url | http://www.mdpi.com/1424-8220/14/12/23885/htm http://ridda2.utp.ac.pa/handle/123456789/4734 |