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

• Type: Article in International Scientific Journal
• Date: 2024

Authors

Magalhaes, SAC (Author) Other; Filipe Neves Santos (Author) FEUP; António Paulo Moreira (Author) FEUP; Dias, JMM (Author) Other

Journal

Title: Robotica

Vol. 42

Pages: 2528-2547

ISSN: 0263-5747

Publisher: Cambridge University Press

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 1 Citation

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 20