Real-time Stereo Visual Servoing for Rose Pruning with Robotic Arm

Hanz Cuevas Velasquez, Antonio-Javier Gallego, Radim Tylecek, Jochen Hemming, Bart van Tuijl, Angelo Mencarelli, Rober B. Fisher

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The paper presents a working pipeline which integrates hardware and software in an automated robotic rose cutter. To the best of our knowledge, this is the first robot able to prune rose bushes in a natural environment. Unlike similar approaches like tree stem cutting, the proposed method does not require to scan the full plant, have multiple cameras around the bush, or assume that a stem does not move. It relies on a single stereo camera mounted on the end-effector of the robot and real-time visual servoing to navigate to the desired cutting location on the stem. The evaluation of the whole pipeline shows a good performance in a garden with unconstrained conditions, where finding and approaching a specific location on a stem is challenging due to occlusions caused by other stems and dynamic changes caused by the wind.
Original languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation (ICRA)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages7050-7056
Number of pages7
ISBN (Electronic)978-1-7281-7395-5
ISBN (Print)978-1-7281-7396-2
DOIs
Publication statusPublished - 15 Sep 2020
Event2020 International Conference on Robotics and Automation - Virtual conference, France
Duration: 31 May 202031 Aug 2020
https://www.icra2020.org/

Publication series

Name
PublisherIEEE
ISSN (Print)1050-4729
ISSN (Electronic)2577-087X

Conference

Conference2020 International Conference on Robotics and Automation
Abbreviated titleICRA 2020
CountryFrance
CityVirtual conference
Period31/05/2031/08/20
Internet address

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