2P1-C06 Vision-Based Behavior Strategy for Tomato Harvesting Robot : 3D Reconstruction from Multi-images of Tomato bunch and Fruits' Pose Estimation
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- YASUKAWA Shinsuke
- Kyushu Institute of Technology
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- LI Binghe
- Kyushu Institute of Technology
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- SONODA Takashi
- Kyushu Institute of Technology
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- ISHII Kazuo
- Kyushu Institute of Technology
Bibliographic Information
- Other Title
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- 2P1-C06 視覚情報に基づくトマト果実収穫ロボットの行動戦略 : トマト果房の三次元復元と果実姿勢の推定を中心に
Abstract
This paper presents a visual information aided behavior strategy for tomato harvesting robot. Particularly, we have proposed an image analysis method for estimating the pose of the fruits as it is the most essential information for picking tomato. Tomato harvesting robot includes a six-axis serial manipulator with a monocular hand-eye and an end-effector, and autonomous mobile cart along with a digital computer. Multi-images of tomato bunch captured from different views by hand-eye are used to reconstruct a 3D point cloud of the bunch which provides the basic information for pose estimation. This information is used in the proposed algorithm to estimate the pose of tomatoes with different shapes and sizes.
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015 (0), _2P1-C06_1-_2P1-C06_4, 2015
The Japan Society of Mechanical Engineers
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Keywords
Details
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- CRID
- 1390001205940779520
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- NII Article ID
- 110010055712
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed