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Monocular Vision Based Target Localization Method for Rose Picking Robot

Published: 28 June 2024 Publication History

Abstract

Target detection and location is the basis of automatic rose picking, and its accuracy is directly related to the efficiency and quality of picking. A real-time location method for rose picking robot is designed. Due to the advantages of complex garden environment and simple monocular imaging system, small size and fast operation speed, monocular camera was selected to obtain visual images, and the YOLOv5 deep learning network model and monocular distance measurement algorithm were combined to achieve target positioning. Aiming at the problem that the size of the measured object or the auxiliary line needs to be known in the traditional monocular distance measurement, a multi-mode monocular distance measurement algorithm is designed to meet the motion characteristics of the track picking robot. The algorithm achieves relatively accurate distance estimation by predicting the actual width of the target, and has good adaptability to targets of different sizes in agricultural environment, and can locate multiple rose targets at the same time. The experimental results show that the proposed method can achieve stable real-time multi-target positioning with an average positioning time of 60ms per frame.

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  1. Monocular Vision Based Target Localization Method for Rose Picking Robot

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    ICRSA '23: Proceedings of the 2023 6th International Conference on Robot Systems and Applications
    September 2023
    335 pages
    ISBN:9798400708039
    DOI:10.1145/3655532
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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    Published: 28 June 2024

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    Author Tags

    1. YOLOv5
    2. agricultural picking
    3. dynamic ranging
    4. monocular ranging
    5. real-time localization

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