Loading...
Loading...

Go to the content (press return)

Robotic leaf probing via segmentation of range data into surface patches

Author
Alenyà, G.; Dellen, B.; Foix, S.; Torras, C.
Type of activity
Presentation of work at congresses
Name of edition
2012 IROS Workshop on Agricultural Robotics: Enabling Safe, Efficient, Affordable Robots for Food Production
Date of publication
2012
Presentation's date
2012
Book of congress proceedings
Proceedings of the 2012 IROS Workshop on Agricultural Robotics: Enabling Safe, Efficient, Affordable Robots for Food Production
First page
1
Last page
6
Repository
http://hdl.handle.net/2117/18187 Open in new window
URL
http://www.cs.cmu.edu/~mbergerm/agrobotics2012/ Open in new window
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 repe...
Citation
Alenyà, 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.
Keywords
automation pattern recognition
Group of research
ROBiri - IRI Robotics Group

Participants