A proposal for automatic fruit harvesting by combining a low cost stereovision camera and a robotic arm

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dc.contributor.authorFont Calafell, Davinia
dc.contributor.authorPallejà Cabrè, Tomàs
dc.contributor.authorTresánchez Ribes, Marcel
dc.contributor.authorRuncan Marius, David
dc.contributor.authorMoreno Blanc, Javier
dc.contributor.authorMartínez Lacasa, Daniel
dc.contributor.authorTeixidó Cairol, Mercè
dc.contributor.authorPalacín Roca, Jordi
dc.date.accessioned2015-09-30T12:50:23Z
dc.date.available2015-09-30T12:50:23Z
dc.date.issued2014
dc.description.abstractThis paper proposes the development of an automatic fruit harvesting system by combining a low cost stereovision camera and a robotic arm placed in the gripper tool. The stereovision camera is used to estimate the size, distance and position of the fruits whereas the robotic arm is used to mechanically pickup the fruits. The low cost stereovision system has been tested in laboratory conditions with a reference small object, an apple and a pear at 10 different intermediate distances from the camera. The average distance error was from 4% to 5%, and the average diameter error was up to 30% in the case of a small object and in a range from 2% to 6% in the case of a pear and an apple. The stereovision system has been attached to the gripper tool in order to obtain relative distance, orientation and size of the fruit. The harvesting stage requires the initial fruit location, the computation of the inverse kinematics of the robotic arm in order to place the gripper tool in front of the fruit, and a final pickup approach by iteratively adjusting the vertical and horizontal position of the gripper tool in a closed visual loop. The complete system has been tested in controlled laboratory conditions with uniform illumination applied to the fruits. As a future work, this system will be tested and improved in conventional outdoor farming conditions.ca_ES
dc.identifier.doihttps://doi.org/10.3390/s140711557
dc.identifier.idgrec021600
dc.identifier.issn1424-8220
dc.identifier.urihttp://hdl.handle.net/10459.1/48772
dc.language.isoengca_ES
dc.publisherMDPIca_ES
dc.relation.isformatofReproducció del document publicat a https://doi.org/10.3390/s140711557ca_ES
dc.relation.ispartofSensors, 2014, vol. 14, núm. 7, p. 11557-11579ca_ES
dc.rightscc-by, (c) Font Calafell, Davinia et al., 2014ca_ES
dc.rights.accessRightsinfo:eu-repo/semantics/openAccessca_ES
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/*
dc.subjectFruit harvestingca_ES
dc.subjectStereovision systemca_ES
dc.subjectSize estimateca_ES
dc.subjectDistance estimateca_ES
dc.subjectPosition estimateca_ES
dc.subjectRobotic armca_ES
dc.subject.otherRobòticaca_ES
dc.subject.otherMaquinària agrícola -- Automatitzacióca_ES
dc.titleA proposal for automatic fruit harvesting by combining a low cost stereovision camera and a robotic armca_ES
dc.typearticleca_ES
dc.type.versionpublishedVersionca_ES
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