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Visual servoing in 3D to enhance full farming in occluded vegetable sceneries

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dc.contributor.authorJosef Franko, Sivaparvathi Mannem
dc.date.accessioned2024-04-08T11:56:34Z
dc.date.available2024-04-08T11:56:34Z
dc.date.issued2024
dc.description.abstractIn 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.en
dc.identifier.doi10.18420/giljt2024_47
dc.identifier.isbn978-3-88579-738-8
dc.identifier.pissn1617-5468
dc.identifier.urihttps://dl.gi.de/handle/20.500.12116/43881
dc.language.isoen
dc.publisherGesellschaft für Informatik e.V.
dc.relation.ispartof44. GIL - Jahrestagung, Biodiversität fördern durch digitale Landwirtschaft
dc.relation.ispartofseriesLecture Notes in Informatics(LNI) - Proceedings, Volume P - 344
dc.subject3D visual servoing
dc.subjectocclude vegetable scenes
dc.subjectharvesting robots
dc.subjectfull farming
dc.subjectmarket gardening
dc.subjectautomation
dc.titleVisual servoing in 3D to enhance full farming in occluded vegetable sceneriesen
dc.typeText/Conference Paper
gi.citation.endPage250
gi.citation.publisherPlaceBonn
gi.citation.startPage245
gi.conference.date27.-28. Februar 2024
gi.conference.locationStuttgart
gi.conference.reviewfull

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