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Fruit detection in an apple orchard using a mobile terrestrial laser scanner

Author
Gené-Mola, J.; Gregorio, E.; Guevara, J.; Auat, F.; Sanz-Cortiella, R.; Escolà, A.; Llorens, J.; Morros, J.R.; Ruiz-Hidalgo, J.; Vilaplana, V.; Rosell, J.R.
Type of activity
Journal article
Journal
Biosystems engineering
Date of publication
2019-11-01
Volume
187
First page
171
Last page
184
DOI
10.1016/j.biosystemseng.2019.08.017
Repository
http://hdl.handle.net/2117/169080 Open in new window
URL
https://www.sciencedirect.com/science/article/pii/S1537511019308128 Open in new window
Abstract
The development of reliable fruit detection and localization systems provides an opportunity to improve the crop value and management by limiting fruit spoilage and optimised harvesting practices. Most proposed systems for fruit detection are based on RGB cameras and thus are affected by intrinsic constraints, such as variable lighting conditions. This work presents a new technique that uses a mobile terrestrial laser scanner (MTLS) to detect and localise Fuji apples. An experimental test focuse...
Keywords
Agricultural robotics, Fruit detection, LiDAR, Mobile terrestrial laser scanning
Group of research
GPI - Image and Video Processing Group
IDEAI-UPC - Intelligent Data Science and Artificial Intelligence Research Center

Participants