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An overview of visual servoing for robotic manipulators in digital agriculture

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dc.contributor.authorShamshiri, Redmond R
dc.contributor.authorDworak, Volker
dc.contributor.authorShokrianZeini, Mostafa
dc.contributor.authorNavas, Eduardo
dc.contributor.authorKäthner, Jana
dc.contributor.authorHöfner, Nora
dc.contributor.authorWeltzien, Cornelia
dc.contributor.editorHoffmann, Christa
dc.contributor.editorStein, Anthony
dc.contributor.editorRuckelshausen, Arno
dc.contributor.editorMüller, Henning
dc.contributor.editorSteckel, Thilo
dc.contributor.editorFloto, Helga
dc.date.accessioned2023-02-21T15:13:55Z
dc.date.available2023-02-21T15:13:55Z
dc.date.issued2023
dc.description.abstractInnovations in terms of robotic manipulator control in digital agriculture have advanced considerably in the last decade with the aim of reducing costs and increasing efficiencies. The availability of compact imaging sensors such as digital cameras that can perceive depth information besides the flexibility of open-source image processing software that can be trained for different applications has played significant roles in accelerating this sector. Preliminary studies have shown that the majority of available robot manipulators in agriculture are using Image-Based Visual Servo (IBVS) control to reach a target position. The presented study provides an overview of different redundant manipulators that are controlled by means of visual servoing for automating various field tasks in digital agriculture including (i) pruning, thinning, and trimming, (ii) harvesting, and (iii) inspection and target spraying. The reviewed works suggest that developing optimal tree shapes and planting techniques is necessary to improve the performance of visual servo control and automate farming operations with robots. In addition, selection of the right imaging sensors, graphics processing units, and training of the computer vision algorithms with more fruits and plants datasets have been highlighted as the three main elements for improving the functionality of IBVS in manipulator control for agricultural applications.en
dc.identifier.isbn978-3-88579-724-1
dc.identifier.pissn1617-5468
dc.identifier.urihttps://dl.gi.de/handle/20.500.12116/40254
dc.language.isoen
dc.publisherGesellschaft für Informatik e.V.
dc.relation.ispartof43. GIL-Jahrestagung, Resiliente Agri-Food-Systeme
dc.relation.ispartofseriesLecture Notes in Informatics (LNI) - Proceedings, Volume P-330
dc.subjectrobot arms
dc.subjectRGB-D camera
dc.subjectVisual Servo
dc.subjectagricultural robotics
dc.subjectimage processing
dc.titleAn overview of visual servoing for robotic manipulators in digital agricultureen
dc.typeText/Conference Paper
gi.citation.endPage241
gi.citation.publisherPlaceBonn
gi.citation.startPage231
gi.conference.date13.-14. Februar 2023
gi.conference.locationOsnabrück

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P330 - 43. GIL-Jahrestagung 2023 - Fokus: Resiliente Agri-Food-Systeme