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dc.contributor.authorAlenyà Ribas, Guillem
dc.contributor.authorDellen, Babette
dc.contributor.authorFoix Salmerón, Sergi
dc.contributor.authorTorras, Carme
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2013-03-11T18:12:48Z
dc.date.available2013-03-11T18:12:48Z
dc.date.created2012
dc.date.issued2012
dc.identifier.citationAlenyà, 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.
dc.identifier.urihttp://hdl.handle.net/2117/18187
dc.description.abstractWe 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.
dc.format.extent6 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.lcshAutomation
dc.subject.otherautomation pattern recognition
dc.titleRobotic leaf probing via segmentation of range data into surface patches
dc.typeConference report
dc.subject.lemacAutomatització
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation
dc.relation.publisherversionhttp://www.cs.cmu.edu/~mbergerm/agrobotics2012/
dc.rights.accessOpen Access
drac.iddocument11216158
dc.description.versionPostprint (author’s final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/247947/EU/Gardening with a Cognitive System/GARNICS
upcommons.citation.authorAlenyà, G.; Dellen, B.; Foix, S.; Torras, C.
upcommons.citation.contributorIROS Workshop on Agricultural Robotics: Enabling Safe, Efficient, Affordable Robots for Food Production (IROS AGROBOTICS)
upcommons.citation.pubplaceVilamoura
upcommons.citation.publishedtrue
upcommons.citation.publicationNameProceedings of the 2012 IROS Workshop on Agricultural Robotics: Enabling Safe, Efficient, Affordable Robots for Food Production
upcommons.citation.startingPage1
upcommons.citation.endingPage6


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Except where otherwise noted, content on this work is licensed under a Creative Commons license: Attribution-NonCommercial-NoDerivs 3.0 Spain