Fruit Detectability Analysis for Different Camera Positions in Sweet-Pepper
For robotic harvesting of sweet-pepper fruits in greenhouses a sensor system is required to detect and localize the fruits on the plants. Due to the complex structure of the plant, most fruits are (partially) occluded when an image is taken from one viewpoint only. In this research the effect of mul...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2014-03-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/14/4/6032 |
| _version_ | 1828138672956899328 |
|---|---|
| author | Jochen Hemming Jos Ruizendaal Jan Willem Hofstee Eldert J. van Henten |
| author_facet | Jochen Hemming Jos Ruizendaal Jan Willem Hofstee Eldert J. van Henten |
| author_sort | Jochen Hemming |
| collection | DOAJ |
| description | For robotic harvesting of sweet-pepper fruits in greenhouses a sensor system is required to detect and localize the fruits on the plants. Due to the complex structure of the plant, most fruits are (partially) occluded when an image is taken from one viewpoint only. In this research the effect of multiple camera positions and viewing angles on fruit visibility and detectability was investigated. A recording device was built which allowed to place the camera under different azimuth and zenith angles and to move the camera horizontally along the crop row. Fourteen camera positions were chosen and the fruit visibility in the recorded images was manually determined for each position. For images taken from one position only with the criterion of maximum 50% occlusion per fruit, the fruit detectability (FD) was in no case higher than 69%. The best single positions were the front views and looking with a zenith angle of 60° upwards. The FD increased when a combination was made of multiple viewpoint positions. With a combination of five favourite positions the maximum FD was 90%. |
| first_indexed | 2024-04-11T18:39:42Z |
| format | Article |
| id | doaj.art-5cd81555de664ee685ddfb05c2cd15c2 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T18:39:42Z |
| publishDate | 2014-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-5cd81555de664ee685ddfb05c2cd15c22022-12-22T04:09:02ZengMDPI AGSensors1424-82202014-03-011446032604410.3390/s140406032s140406032Fruit Detectability Analysis for Different Camera Positions in Sweet-PepperJochen Hemming0Jos Ruizendaal1Jan Willem Hofstee2Eldert J. van Henten3Wageningen UR Greenhouse Horticulture, P.O. Box 644, 6700 AP Wageningen, The NetherlandsFarm Technology Group, Wageningen University, P.O. Box 317, 6700 AH Wageningen, The NetherlandsFarm Technology Group, Wageningen University, P.O. Box 317, 6700 AH Wageningen, The NetherlandsWageningen UR Greenhouse Horticulture, P.O. Box 644, 6700 AP Wageningen, The NetherlandsFor robotic harvesting of sweet-pepper fruits in greenhouses a sensor system is required to detect and localize the fruits on the plants. Due to the complex structure of the plant, most fruits are (partially) occluded when an image is taken from one viewpoint only. In this research the effect of multiple camera positions and viewing angles on fruit visibility and detectability was investigated. A recording device was built which allowed to place the camera under different azimuth and zenith angles and to move the camera horizontally along the crop row. Fourteen camera positions were chosen and the fruit visibility in the recorded images was manually determined for each position. For images taken from one position only with the criterion of maximum 50% occlusion per fruit, the fruit detectability (FD) was in no case higher than 69%. The best single positions were the front views and looking with a zenith angle of 60° upwards. The FD increased when a combination was made of multiple viewpoint positions. With a combination of five favourite positions the maximum FD was 90%.http://www.mdpi.com/1424-8220/14/4/6032fruit visibilitysweet-pepperocclusionharvestingrobotics |
| spellingShingle | Jochen Hemming Jos Ruizendaal Jan Willem Hofstee Eldert J. van Henten Fruit Detectability Analysis for Different Camera Positions in Sweet-Pepper Sensors fruit visibility sweet-pepper occlusion harvesting robotics |
| title | Fruit Detectability Analysis for Different Camera Positions in Sweet-Pepper |
| title_full | Fruit Detectability Analysis for Different Camera Positions in Sweet-Pepper |
| title_fullStr | Fruit Detectability Analysis for Different Camera Positions in Sweet-Pepper |
| title_full_unstemmed | Fruit Detectability Analysis for Different Camera Positions in Sweet-Pepper |
| title_short | Fruit Detectability Analysis for Different Camera Positions in Sweet-Pepper |
| title_sort | fruit detectability analysis for different camera positions in sweet pepper |
| topic | fruit visibility sweet-pepper occlusion harvesting robotics |
| url | http://www.mdpi.com/1424-8220/14/4/6032 |
| work_keys_str_mv | AT jochenhemming fruitdetectabilityanalysisfordifferentcamerapositionsinsweetpepper AT josruizendaal fruitdetectabilityanalysisfordifferentcamerapositionsinsweetpepper AT janwillemhofstee fruitdetectabilityanalysisfordifferentcamerapositionsinsweetpepper AT eldertjvanhenten fruitdetectabilityanalysisfordifferentcamerapositionsinsweetpepper |