Robotic leaf probing via segmentation of range data into surface patches
Tipus de documentText en actes de congrés
Data publicació2012
Condicions d'accésAccés obert
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Abstract
We present a novel method for the robotized
probing of plant leaves using Time-of-Flight (ToF) sensors.
Plant images are segmented into surface patches by combining
a segmentation of the infrared intensity image, provided by
the ToF camera, with quadratic surface fitting using ToF
depth data. Leaf models are fitted to the boundaries of the
segments and used to determine probing points and to evaluate
the suitability of leaves for being sampled. The robustness of
the approach is evaluated by repeatedly placing an especially
adapted, robot-mounted spad meter on the probing points
which are extracted in an automatic manner. The number of
successful chlorophyll measurements is counted, and the total
time for processing the visual data and probing the plant with
the robot is measured for each trial. In case of failure, the
underlying causes are determined and reported, allowing a
better assessment of the applicability of the method in real
scenarios.
CitacióAlenyà, G. [et al.]. Robotic leaf probing via segmentation of range data into surface patches. A: IROS Workshop on Agricultural Robotics: Enabling Safe, Efficient, Affordable Robots for Food Production (IROS AGROBOTICS). "Proceedings of the 2012 IROS Workshop on Agricultural Robotics: Enabling Safe, Efficient, Affordable Robots for Food Production". Vilamoura: 2012, p. 1-6.
Versió de l'editorhttp://www.cs.cmu.edu/~mbergerm/agrobotics2012/
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1384-Robotic-Le ... Into-Surface-Patches-1.pdf | 1,309Mb | Visualitza/Obre |