Automated Boxwood Topiary Trimming with a Robotic Arm and Integrated Stereo Vision

Dejan Kaljaca, Nikolaus Mayer, Bastiaan Vroegindeweij, Angelo Mencarelli, Eldert Van Henten, Thomas Brox

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

Abstract

This paper presents an integrated hardware-software solution to perform fully automated robotic bush trimming to user-specified shapes. In contrast to specialized solutions that can trim only bushes of a certain shape, the approach ensures flexibility via a vision-based shape fitting module that allows fitting an arbitrary mesh into a bush at hand. A trimming planning method considers the available degrees of freedom of the robot arm to achieve effective cutting motions. The performance of the mesh fitting module is assessed in multiple experiments involving both artificial and real plants with a variety of shapes. The trimming accuracy of the overall approach is quantitatively evaluated by inspecting the bush pointcloud before and after robotic trimming, and measuring the change in the deviation from the originally computed target mesh.

Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5542-5549
Number of pages8
ISBN (Electronic)9781728140049
DOIs
Publication statusPublished - 1 Nov 2019
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: 3 Nov 20198 Nov 2019

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period3/11/198/11/19

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Kaljaca, D., Mayer, N., Vroegindeweij, B., Mencarelli, A., Henten, E. V., & Brox, T. (2019). Automated Boxwood Topiary Trimming with a Robotic Arm and Integrated Stereo Vision. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 5542-5549). [8968446] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS40897.2019.8968446