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Multi-vision-based Localization and Pose Estimation of Occluded Apple Fruits for Harvesting Robots

文献类型： 会议论文

第一作者： Tao Li

作者： Tao Li 1 ; Feng Xie 2 ; Qingchun Feng 1 ; Quan Qiu 3 ;

作者机构： 1.Intelligent Equipment Research Center Beijing Academy of Agriculture and Forestry Sciences, Beijing, China

2.School of Agricultural Engineering, Jiangsu University, Zhenjiang, Jiangsu, China

3.BIPT Academy of Artificial Intelligence Beijing Institute of Petrochemical Technology, Beijing, China

关键词： Deep learning;Location awareness;Three-dimensional displays;Shape;Pose estimation;Grasping;Multitasking

会议名称： Youth Academic Annual Conference of Chinese Association of Automation

主办单位：

页码： 767-772

摘要： Locating and grasping occluded fruits are crucial and challenging tasks in robotic harvest, suffering from insufficient filling rate and noise of stereo cameras. In this paper, we propose a multi-vision-based method to locate and estimate a grasping pose for an occluded fruit, based on a deep learning multi-task network and a new frustum-based method of point-cloud-processing. The multi-task deep learning network is presented to detect the complete bounding box and segment the visible part of occluded targets. Once the detection and segmentation are finished, we introduce the concept of 3D frustum for ease of estimating the centroid of the visible part and then reconstruct the shape of the occluded fruits. Accordingly, the estimation of the grasping approach is derived. Combining the measurements from multiple stereo visions, we obtained a new centroid of the fruit and an grasping pose of the occluded fruit. To demonstrate the effectiveness of the proposed method, the experiments in orchards were performed. All shown results supported the research claims.

分类号： tp2-53

  • 相关文献

[1]Enhancing Outdoor Fruit Localization Accuracy: A Stereo Network Approach with Parallax Attention. Feng Xie,Tao Li. 2023

[2]Partial Characteristics Extraction of Image. Gao, Rong-hua,Wu, Hua-rui,Gao, Rong-hua,Wu, Hua-rui,Gao, Rong-hua,Wu, Hua-rui. 2015

[3]Fruit Distribution Acquisition With Multi-Vision for Multi-Arm Harvesting Robots. Feng Xie,Na Sun,Jiaheng Li,Qingchun Feng,Tao Li. 2023

[4]Maize Leaf Biomass Retrieval at Multi-growing Stage Using UAV Multispectral Images Based on 3D Radiative Transfer Process-guided Machine Learning. Dan Zhao,Hao Yang,Guijun Yang,Xingang Xu,Bo Xu. 2024

[5]Segmentation and Extraction of Maize Phytomers Using 3D Data Acquired by RGB-D Cameras. Zhengqiang Fan,Na Sun,Jian Xu,Tao Li,Quan Qiu. 2023

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