| Presentation | 2022-11-24 Locating the Fruit to Be Harvested and Estimating their Cut Positions from RGBD Images Acquired by a Camera Moved along a Fixed Path Using a Mask-RCNN Based Method Wentao Zhao, Jun Ohya, Chanjin Seo, Takuya Otani, Taiga Tanaka, Koki Masaya, Atsuo Takanishi, Shuntaro Aotake, Masatoshi Funabashi, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | This paper proposes a Mask R-CNN[1] based method for locating fruits (tomatoes and yellow bell peppers, etc.) and estimating the cutting positions from RGBD images acquired by a camera moved along a fixed path. After getting mask results of all fruits and pedicels (cutting positions), the proposed method judges the matching relationship between the located fruit and pedicel according to the distance between fruit and pedicel. Experimental results show the proposed method effectively detects the cutting position of each fruit. The method is also robust in complex environments. In addition, it turns out that the fixed path strategy is valid for avoiding obstacles and reaching the pedicel and cutting position accurately. A high harvesting success rate was achieved in a Gazebo based simulated environment. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Harvest RobotPoint Cloud ProcessingMask R-CNNLocating Cutting positionFixed Harvesting path |
| Paper # | CS2022-55,IE2022-43 |
| Date of Issue | 2022-11-17 (CS, IE) |
| Conference Information | |
| Committee | CS / IE / IPSJ-AVM / ITE-BCT |
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| Conference Date | 2022/11/24(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Nagoya Institute of Technology |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Image coding, Communications and streaming technologies, etc. |
| Chair | Daisuke Umehara(Kyoto Inst. of Tech.) / Kazuya Kodama(NII) / Hiroyuki Kasai(Waseda University) |
| Vice Chair | Seiji Kozaki(Mitsubishi Electric) / Hiroyuki Bandoh(NTT) / Toshihiko Yamazaki(Univ. of Tokyo) |
| Secretary | Seiji Kozaki(Chiba Inst. of Tech.) / Hiroyuki Bandoh(NTT) / Toshihiko Yamazaki(KDDI Research) / (Nagoya Inst. of Tech.) / (KDDI Research, Inc.) |
| Assistant | Hikaru Kawasaki(NICT) / Yuta Ida(Yamaguchi Univ.) / Shunsuke Iwamura(NHK) / Shinobu Kudo(NTT) |
| Paper Information | |
| Registration To | Technical Committee on Communication Systems / Technical Committee on Image Engineering / Special Interest Group on Audio Visual and Multimedia Information Processing / Technical Group on Broadcasting Technology |
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| Language | ENG |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Locating the Fruit to Be Harvested and Estimating their Cut Positions from RGBD Images Acquired by a Camera Moved along a Fixed Path Using a Mask-RCNN Based Method |
| Sub Title (in English) | * |
| Keyword(1) | Harvest RobotPoint Cloud ProcessingMask R-CNNLocating Cutting positionFixed Harvesting path |
| 1st Author's Name | Wentao Zhao |
| 1st Author's Affiliation | Waseda University(Waseda Univ.) |
| 2nd Author's Name | Jun Ohya |
| 2nd Author's Affiliation | Waseda University(Waseda Univ.) |
| 3rd Author's Name | Chanjin Seo |
| 3rd Author's Affiliation | Waseda University(Waseda Univ.) |
| 4th Author's Name | Takuya Otani |
| 4th Author's Affiliation | Waseda University(Waseda Univ.) |
| 5th Author's Name | Taiga Tanaka |
| 5th Author's Affiliation | Waseda University(Waseda Univ.) |
| 6th Author's Name | Koki Masaya |
| 6th Author's Affiliation | Waseda University(Waseda Univ.) |
| 7th Author's Name | Atsuo Takanishi |
| 7th Author's Affiliation | Waseda University(Waseda Univ.) |
| 8th Author's Name | Shuntaro Aotake |
| 8th Author's Affiliation | Sony Computer Science Laboratories(SONY CSL) |
| 9th Author's Name | Masatoshi Funabashi |
| 9th Author's Affiliation | Sony Computer Science Laboratories(SONY CSL) |
| Date | 2022-11-24 |
| Paper # | CS2022-55,IE2022-43 |
| Volume (vol) | vol.122 |
| Number (no) | CS-269,IE-270 |
| Page | pp.pp.39-44(CS), pp.39-44(IE), |
| #Pages | 6 |
| Date of Issue | 2022-11-17 (CS, IE) |