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, Robert B. Fisher

Research output: Contribution to conferenceConference paper

1 Citation (Scopus)

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 languageEnglish
Pages7050-7056
DOIs
Publication statusPublished - May 2020
Event2020 IEEE International Conference on Robotics and Automation (ICRA) - Paris, France
Duration: 31 May 202031 Aug 2020

Conference

Conference2020 IEEE International Conference on Robotics and Automation (ICRA)
Period31/05/2031/08/20

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