Machine Vision and Applications

, Volume 11, Issue 6, pp 321–329 | Cite as

A vision system based on a laser range-finder applied to robotic fruit harvesting

  • A.R. Jiménez
  • R. Ceres
  • J.L. Pons
Special issue

Abstract.

This paper describes a laser-based computer vision system used for automatic fruit recognition. It is based on an infrared laser range-finder sensor that provides range and reflectance images and is designed to detect spherical objects in non-structured environments. Image analysis algorithms integrate both range and reflectance information to generate four characteristic primitives which give evidence of the existence of spherical objects. The output of this vision system includes 3D position, radius and surface reflectivity of each spherical object. It has been applied to the AGRIBOT orange harvesting robot, where it has obtained good fruit detection rates and unlikely false detections.

Key words: Laser-scanner – Harvesting – Reflectance – Range 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2000

Authors and Affiliations

  • A.R. Jiménez
    • 1
  • R. Ceres
    • 1
  • J.L. Pons
    • 1
  1. 1.Instituto de Automática Industrial (CSIC), Ctr. Campo Real, Km. 0.2 La Poveda, 28500 Arganda del Rey, Madrid, Spain; e-mail: arjimenez@iai.csic.esES

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