文章基本信息

标题：Multi-camera Fruit Localization in Robotic Harvesting
本地全文：下载
作者：S.S. Mehta ; T.F. Burks
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：16
页码：90-95
DOI：10.1016/j.ifacol.2016.10.017
语种：English
出版社：Elsevier
摘要：Motivated by an effort to study layered vision systems for robotic harvesting, this paper investigates the problem of fruit localization using multiple cameras in the fruit detection layer of the vision system. A pseudo stereo-vision approach is presented where fruit matching is accomplished by loosely holding the epipolar constraint to reduce computation time. In the presence of noise, heuristics are presented to identify the greatest subset of cameras with matched fruits. Subsequently, the fruit depth is obtained by minimizing the summation of the image reprojection error in cameras with matching fruit. Monte Carlo simulations are performed to establish localization efficiency of the proposed approach under varying design parameters and image noise.
关键词：Fruit localizationfruit matchingrobotic harvestingpseudo stereo-vision