3D pose estimation of green pepper fruit for automated harvesting
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- 作者：Peteris Eizentals ; peteris.eizentals@gmail.com" class="auth_mail" title="E-mail the corresponding author ; Koichi Oka oka.koichi@kochi-tech.ac.jp" class="auth_mail" title="E-mail the corresponding author
- 关键词：Pose estimation ; Automatic harvesting ; Harvesting robot ; Green pepper ; Point matching
- 刊名：Computers and Electronics in Agriculture
- 出版年：2016
- 出版时间：October 2016
- 年：2016
- 卷：128
- 期：Complete
- 页码：127-140
- 全文大小：4766 K
文摘
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Method for green pepper pose estimation is proposed.
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Fruit pose estimation is essential for automatic harvesting.
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Method uses model matching to fruit surface points.
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Surface points are obtained by laser range finder.
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Stem position for cutting can be calculated from fruit pose.