Real-time Stereo Visual Servoing for Rose Pruning with Robotic Arm
Hanz Cuevas-Velasquez, Antonio-Javier Gallego, Radim Tylecek, Jochen Hemming, Bart van Tuijl, Angelo Mencarelli, Robert B. Fisher
Abstract
The paper presents a working pipeline which integrates hardware and software in an automated robotic rose cutter. To the best of our knowledge, this is the first robot able to prune rose bushes in a natural environment. Unlike similar approaches like tree stem cutting, the proposed method does not require to scan the full plant, have multiple cameras around the bush, or assume that a stem does not move. It relies on a single stereo camera mounted on the end-effector of the robot and real-time visual servoing to navigate to the desired cutting location on the stem. The evaluation of the whole pipeline shows a good performance in a garden with unconstrained conditions, where finding and approaching a specific location on a stem is challenging due to occlusions caused by other stems and dynamic changes caused by the wind.
BibTeX
@inproceedings{icra2020_realtimestereovi,
title = {Real-time Stereo Visual Servoing for Rose Pruning with Robotic Arm},
author = {Hanz Cuevas-Velasquez and Antonio-Javier Gallego and Radim Tylecek and Jochen Hemming and Bart van Tuijl and Angelo Mencarelli and Robert B. Fisher},
booktitle = {ICRA 2020},
year = {2020}
}