An obstacle separation method for robotic picking of fruits in clusters
Computers and Electronics in Agriculture(2020)
摘要
•Proposed an active obstacle separation method to separate obstacles from the target.•The separation method combines push and drag motions based on 3D perception.•A zig-zag push is proposed to push aside more dense obstacles.•A drag operation is proposed to move the obstacles located above the target.•An image processing pipeline is developed to implement the proposed method.
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关键词
Agricultural robotics,Obstacle separation,Strawberry-harvesting robots
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