Recognition by Robot Visual Sensor Based on Sensor Fusion. Fuse Range Image and 2-dimentional Image.

摘要

When we think about automation in a plant growth factory, development of intelligent robots is expected. In this study, we aimed to automate and robotize strawberry harvesting. We carried out fundamental examination of recognition by robot visual sensors (fuse range image and 2-dimensional image) based on sensor fusion.We made a new algorithm in order to obtain information that is necessary for the harvest of strawberries. This algorithm could find out a peduncle of a fruit in a suitable harvesting time out of many other peduncles. The CCD camera could satisfactorily discriminate and recognize fruits which were not hidden by obstacles. The range image was measured using a laser range finder. We consider that sensor system and this algorithm would be effective when two sensor were used in combination.