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Robotic leaf probing via segmentation of range data into surface patches

Autor
Alenyà, G.; Dellen, B.; Foix, S.; Torras, C.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
2012 IROS Workshop on Agricultural Robotics: Enabling Safe, Efficient, Affordable Robots for Food Production
Any de l'edició
2012
Data de presentació
2012
Llibre d'actes
Proceedings of the 2012 IROS Workshop on Agricultural Robotics: Enabling Safe, Efficient, Affordable Robots for Food Production
Pàgina inicial
1
Pàgina final
6
Repositori
http://hdl.handle.net/2117/18187 Obrir en finestra nova
URL
http://www.cs.cmu.edu/~mbergerm/agrobotics2012/ Obrir en finestra nova
Resum
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...
Citació
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.
Paraules clau
automation pattern recognition
Grup de recerca
ROBiri - Grup de Robòtica de l'IRI

Participants