Vine trunk detector for a reliable robot localization system

• Type: Article in International Conference Proceedings Book
• Date: 2016

Authors

Mendes, J (Author) Other; Filipe Neves Santos (Author) FEUP; Ferraz, N (Author) Other; Couto, P (Author) Other; Morais, R (Author) Other

Conference proceedings International

Title: 2016 International Conference on Autonomous Robot Systems and Competitions, ICARSC 2016, Bragança, Portugal, May 4-6, 2016

Pages: 1-6

Indexing

ISI Web of Knowledge - 0 Citations

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Other information

Authenticus ID: P-00M-9EH

DOI: 10.1109/icarsc.2016.68

Abstract (EN): Develop ground robots for crop monitoring and harvesting in steep slope vineyards is a complex challenge due to two main reasons: harsh condition of the terrain and unstable localization accuracy got from Global Positioning Systems (GPS). For this context, a reliable localization system requires a high density of natural/artificial features and an accurate detector. This paper presents a novel visual detector for Vineyards Trunks and Masts (ViTruDe). The ViTruDe detector was developed considering the constrains of a cost-effective robot to carry-out crop monitoring tasks in steep slope vineyard environment. The obtained results with real data shows an accuracy higher than 95% for all tested configurations. The training and test data are made public for future research work. This approach is a contribution for an accurate and reliable localization system that is GPS-free.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6