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Visual servoing in 3D to enhance full farming in occluded vegetable sceneries
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Datum
2024
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Gesellschaft für Informatik e.V.
Zusammenfassung
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.