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

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Original languageEnglish
Title of host publicationProceedings of the International Conference on Robotics and Automation 2020
Number of pages7
Publication statusAccepted/In press - 22 Jan 2020
Event2020 International Conference on Robotics and Automation - Paris, France
Duration: 31 May 20204 Jun 2020
https://www.icra2020.org/

Conference

Conference2020 International Conference on Robotics and Automation
Abbreviated titleICRA 2020
CountryFrance
CityParis
Period31/05/204/06/20
Internet address

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.

Event

2020 International Conference on Robotics and Automation

31/05/204/06/20

Paris, France

Event: Conference

ID: 137078006