Model-Based 3D Point Cloud Segmentation for Automated Selective Broccoli Harvesting

  • Hector A. MontesEmail author
  • Grzegorz Cielniak
  • Tom Duckett
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11649)


In this paper we address the topic of feature matching in 3D point cloud data for accurate object segmentation. We present a matching method based on local features that operates on 3D point clouds to separate crops of broccoli heads from their background. Our method outperforms recent methods based on 2D standard segmentation techniques as well as clustering spatial distances. We have implemented our approach and present experiments on datasets collected in cultivated broccoli fields, in which we analyse performance and capabilities of the system as a point feature-based segmentation method.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Hector A. Montes
    • 1
    Email author
  • Grzegorz Cielniak
    • 1
  • Tom Duckett
    • 1
  1. 1.School of Computer ScienceUniversity of LincolnLincolnUK

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