MonoVisual3DFilter: 3D tomatoes' localisation with monocular cameras using histogram filters

• Tipo: Artigo em Revista Científica Internacional
• Data: 2024

Autores

Magalhaes, SAC (Autor) Outra; Filipe Neves Santos (Autor) FEUP; António Paulo Moreira (Autor) FEUP; Dias, JMM (Autor) Outra

Revista

Título: Robotica

Vol. 42

Páginas: 2528-2547

ISSN: 0263-5747

Editora: Cambridge University Press

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 1 Citação

Outras Informações

ID Authenticus: P-00Z-MNB

DOI: 10.1017/s0263574724000936

Abstract (EN): Performing tasks in agriculture, such as fruit monitoring or harvesting, requires perceiving the objects' spatial position. RGB-D cameras are limited under open-field environments due to lightning interferences. So, in this study, we state to answer the research question: How can we use and control monocular sensors to perceive objects' position in the 3D task space? Towards this aim, we approached histogram filters (Bayesian discrete filters) to estimate the position of tomatoes in the tomato plant through the algorithm MonoVisual3DFilter. Two kernel filters were studied: the square kernel and the Gaussian kernel. The implemented algorithm was essayed in simulation, with and without Gaussian noise and random noise, and in a testbed at laboratory conditions. The algorithm reported a mean absolute error lower than 10 mm in simulation and 20 mm in the testbed at laboratory conditions with an assessing distance of about 0.5 m. So, the results are viable for real environments and should be improved at closer distances.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 20