Validation of a Multisensory System for Fruit Harvesting Robots in Lab Conditions

  • Roemi Fernández
  • Carlota Salinas
  • Héctor Montes
  • Javier Sarria
  • Manuel Armada
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 252)

Abstract

This paper presents a multisensory system for the detection and localisation of fruits that are candidates to be harvested by a robotic manipulator. The devices that have been selected as primary sensors for this purpose are a high resolution colour camera, a multispectral imaging system that consists of a motorised filter wheel, and a Time-Of-Flight 3D camera. A controlled lighting system completes the set-up. The progressive RGB camera and the multispectral imaging system acquire the basic data inputs for the detection of areas of interest that belong to the fruits, whereas the Time-Of-Flight 3D camera provides fast acquisition of accurate distances enabling the localisation of the targets in the coordinate space. Several experimental tests have been carried out in laboratory conditions in order to evaluate the capabilities of the proposed multisensory system.

Keywords

fruit detection multispectral system optical filters Time-Of-Flight camera precision agriculture image processing classification 

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Roemi Fernández
    • 1
  • Carlota Salinas
    • 1
  • Héctor Montes
    • 1
    • 2
  • Javier Sarria
    • 1
  • Manuel Armada
    • 1
  1. 1.Centre for Automation and Robotics CSIC-UPMMadridSpain
  2. 2.Faculty of Electrical EngineeringTechnological University of PanamaPanamaPanama

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