Real-Time Point Recognition for Seedlings Using Kernel Density Estimators and Pyramid Histogram of Oriented Gradients

This paper introduces a new real-time method based on a combination of kernel density estimators and pyramid histogram of oriented gradients for identifying a point of interest along the stem of seedlings suitable for stem-stake coupling, also known as the 'clipping point'. The recognition of a clipping point is a required step for automating the stem-stake coupling task, also known as the clipping task, using the robotic system under development. At present, the completion of this task depends on the expertise of skilled individuals that perform manual clipping. The robotic stem-stake coupling system is designed to emulate human perception (in vision and cognition) for identifying the clipping points and to replicate human motor skills (in dexterity of manipulation) for attaching the clip to the stem at the identified clipping point. The system is expected to clip various types of vegetables, namely peppers, tomatoes, and cucumbers. Our proposed methodology will serve as a framework for automatic analysis and the understanding of the images of seedlings for identifying a suitable clipping point. The proposed algorithm is evaluated using real-world image data from propagation facilities and greenhouses, and the results are verified by expert farmers indicating satisfactory performance. The precise outcomes obtained through this identification method facilitate the execution of other autonomous functions essential in precision agriculture and horticulture.