Para acceder a los documentos con el texto completo, por favor, siga el siguiente enlace: http://hdl.handle.net/2117/18187

Robotic leaf probing via segmentation of range data into surface patches
Alenyà Ribas, Guillem; Dellen, Babette; Foix Salmerón, Sergi; Torras, Carme
Universitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
We present a novel method for the robotized probing of plant leaves using Time-of-Flight (ToF) sensors. Plant images are segmented into surface patches by combining a segmentation of the infrared intensity image, provided by the ToF camera, with quadratic surface fitting using ToF depth data. Leaf models are fitted to the boundaries of the segments and used to determine probing points and to evaluate the suitability of leaves for being sampled. The robustness of the approach is evaluated by repeatedly placing an especially adapted, robot-mounted spad meter on the probing points which are extracted in an automatic manner. The number of successful chlorophyll measurements is counted, and the total time for processing the visual data and probing the plant with the robot is measured for each trial. In case of failure, the underlying causes are determined and reported, allowing a better assessment of the applicability of the method in real scenarios.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Automation
automation pattern recognition
Automatització
Classificació INSPEC::Automation
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
info:eu-repo/semantics/submittedVersion
info:eu-repo/semantics/conferenceObject
         

Mostrar el registro completo del ítem

Documentos relacionados

Otros documentos del mismo autor/a

Alenyà Ribas, Guillem; Dellen, Babette; Foix Salmerón, Sergi; Torras, Carme
Dellen, Babette; Alenyà Ribas, Guillem; Foix Salmerón, Sergi; Torras, Carme
Dellen, Babette; Alenyà Ribas, Guillem; Foix Salmerón, Sergi; Torras, Carme
Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Torras, Carme
Alenyà Ribas, Guillem; Foix Salmerón, Sergi; Torras, Carme