Design of an eye-in-hand sensing and servo control framework for harvesting robotics in dense vegetation

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Design of an eye-in-hand sensing and servo control framework for harvesting robotics in dense vegetation

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作者：Ruud Barth^a ; ^b ; ^{r.barth@wur.nl" class="auth_mail" title="E-mail the corresponding author} ; Jochen Hemming^b ; ^{jochen.hemming@wur.nl" class="auth_mail" title="E-mail the corresponding author} ; Eldert J. van Henten^c ; ^{eldert.vanhenten@wur.nl" class="auth_mail" title="E-mail the corresponding author}
关键词：Framework ; Harvest robots ; Visual servo control ; ROS ; SLAM
刊名：Biosystems Engineering
出版年：2016
出版时间：June 2016
年：2016
卷：146
期：Complete
页码：71-84
全文大小：2196 K

文摘

•: A framework design is proposed for eye-in-hand sensing and visual servo control.
•: The framework is primarily intended for harvest robotics in dense crops.
•: An example implementation is demonstrated for a sweet-pepper use-case.

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