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

doi:10.1109/ICRA40945.2020.9197272

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 proceeding › Conference 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 language	English
Title of host publication	2020 IEEE International Conference on Robotics and Automation (ICRA)
Publisher	Institute of Electrical and Electronics Engineers
Pages	7050-7056
Number of pages	7
ISBN (Electronic)	978-1-7281-7395-5
ISBN (Print)	978-1-7281-7396-2
DOIs	https://doi.org/10.1109/ICRA40945.2020.9197272
Publication status	Published - 15 Sept 2020
Event	2020 International Conference on Robotics and Automation - Virtual conference, France Duration: 31 May 2020 → 31 Aug 2020 https://www.icra2020.org/

Publication series

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

Conference

Conference	2020 International Conference on Robotics and Automation
Abbreviated title	ICRA 2020
Country/Territory	France
City	Virtual conference
Period	31/05/20 → 31/08/20
Internet address	https://www.icra2020.org/

Access to Document

10.1109/ICRA40945.2020.9197272Licence: All Rights Reserved

Real-time Stereo Visual_CUEVAS-VELASQUEZ_DOA22012020_AFVAccepted author manuscript, 1.85 MB

https://ieeexplore.ieee.org/document/9197272Licence: All Rights Reserved

TrimBot2020-A gardening robot for rose, hedge and topiary trimming (coordinating)
Fisher, B. (Principal Investigator)
EU government bodies
1/01/16 → 31/12/19
Project: Research

Cite this

Cuevas Velasquez, H., Gallego, A.-J., Tylecek, R., Hemming, J., van Tuijl, B., Mencarelli, A., & Fisher, R. B. (2020). Real-time Stereo Visual Servoing for Rose Pruning with Robotic Arm. In 2020 IEEE International Conference on Robotics and Automation (ICRA) (pp. 7050-7056). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICRA40945.2020.9197272

@inproceedings{14c3849faba243b08db7ff6df24bfabc,

title = "Real-time Stereo Visual Servoing for Rose Pruning with Robotic Arm",

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.",

author = "\{Cuevas Velasquez\}, Hanz and Antonio-Javier Gallego and Radim Tylecek and Jochen Hemming and \{van Tuijl\}, Bart and Angelo Mencarelli and Fisher, \{Rober B.\}",

year = "2020",

month = sep,

day = "15",

doi = "10.1109/ICRA40945.2020.9197272",

language = "English",

isbn = "978-1-7281-7396-2",

publisher = "Institute of Electrical and Electronics Engineers",

pages = "7050--7056",

booktitle = "2020 IEEE International Conference on Robotics and Automation (ICRA)",

address = "United States",

note = "2020 International Conference on Robotics and Automation, ICRA 2020 ; Conference date: 31-05-2020 Through 31-08-2020",

url = "https://www.icra2020.org/",

}

Cuevas Velasquez, H, Gallego, A-J, Tylecek, R, Hemming, J, van Tuijl, B, Mencarelli, A & Fisher, RB 2020, Real-time Stereo Visual Servoing for Rose Pruning with Robotic Arm. in 2020 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, pp. 7050-7056, 2020 International Conference on Robotics and Automation, Virtual conference, France, 31/05/20. https://doi.org/10.1109/ICRA40945.2020.9197272

Real-time Stereo Visual Servoing for Rose Pruning with Robotic Arm. / Cuevas Velasquez, Hanz; Gallego, Antonio-Javier; Tylecek, Radim et al.
2020 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, 2020. p. 7050-7056.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Real-time Stereo Visual Servoing for Rose Pruning with Robotic Arm

AU - Cuevas Velasquez, Hanz

AU - Gallego, Antonio-Javier

AU - Tylecek, Radim

AU - Hemming, Jochen

AU - van Tuijl, Bart

AU - Mencarelli, Angelo

AU - Fisher, Rober B.

PY - 2020/9/15

Y1 - 2020/9/15

N2 - 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.

AB - 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.

U2 - 10.1109/ICRA40945.2020.9197272

DO - 10.1109/ICRA40945.2020.9197272

M3 - Conference contribution

SN - 978-1-7281-7396-2

SP - 7050

EP - 7056

BT - 2020 IEEE International Conference on Robotics and Automation (ICRA)

PB - Institute of Electrical and Electronics Engineers

T2 - 2020 International Conference on Robotics and Automation

Y2 - 31 May 2020 through 31 August 2020

ER -

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

Abstract

Publication series

Conference

Access to Document

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Projects

TrimBot2020-A gardening robot for rose, hedge and topiary trimming (coordinating)

Cite this