Fruit Detection and Pose Estimation for Grape Cluster–Harvesting Robot Using Binocular Imagery Based on Deep Neural Networks

Fruit Detection and Pose Estimation for Grape Cluster–Harvesting Robot Using Binocular Imagery Based on Deep Neural Networks

Reliable and robust fruit-detection algorithms in nonstructural environments are essential for the efficient use of harvesting robots. The pose of fruits is crucial to guide robots to approach target fruits for collision-free picking. To achieve accurate picking, this study investigates an approach...

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Bibliographic Details
Main Authors: Wei Yin, Hanjin Wen, Zhengtong Ning, Jian Ye, Zhiqiang Dong, Lufeng Luo
Format: Article
Language:English
Published: Frontiers Media S.A. 2021-06-01
Series:Frontiers in Robotics and AI
Subjects:
grape cluster
region convolutional network
binocular stereo camera
grape model reconstruction
pose estimation
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2021.626989/full

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