Partially Structured Robotic Picking for Automation of Tomato Transplantation

Abstract

Automation of agricultural processes is one way to deal with the expected increase in food demand. We consider here the possibility of introducing a manipulator into a tomato transplanting process. The proposed laboratory setup consisting of a manipulator, a vision subsystem and ROS shows the feasibility of having a partially automated tomato transplanting machine using a manipulator. The box position is estimated based on Aruco library to execute the pick-and-place task.