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P344 - 44. GIL-Jahrestagung 2024 - Fokus: Biodiversität fördern durch digitale Landwirtschaft

https://dl.gi.de/handle/20.500.12116/43863
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Auflistung P344 - 44. GIL-Jahrestagung 2024 - Fokus: Biodiversität fördern durch digitale Landwirtschaft nach Schlagwort "3D visual servoing"

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  • Konferenzbeitrag
    Visual servoing in 3D to enhance full farming in occluded vegetable sceneries
    (44. GIL - Jahrestagung, Biodiversität fördern durch digitale Landwirtschaft, 2024) Josef Franko, Sivaparvathi Mannem
    In recent years, there has been extensive research and development in the field of agricultural robots. The AgriPV-Bot is a multipurpose field robot to perform selective cultivation in market gardening. However, the cultivation of mixed vegetables in occluded sceneries where not all features are perceptible from top-down perspective poses a challenge especially in spot-farming applications. Therefore, this paper proposes a sweeping motion approach based on 3D visual servoing to utilize multiple view angles to effectively address this challenge. The approach is evaluated both in a simulation and real-world environment.