High precision scene stitching and recognition of agaricus bisporus based on depth camera

Chenbo Shi; Jiahao Nie; Yuanzheng Mo; Chun Zhang; Changsheng Zhu; Xiangteng Zang

doi:10.1117/12.2691568

6 November 2023 High precision scene stitching and recognition of agaricus bisporus based on depth camera

Chenbo Shi, Jiahao Nie, Yuanzheng Mo, Chun Zhang, Changsheng Zhu, Xiangteng Zang

Proceedings Volume 12921, Third International Computing Imaging Conference (CITA 2023); 129213G (2023) https://doi.org/10.1117/12.2691568
Event: Third International Computing Imaging Conference (CITA 2023), 2023, Sydney, Australia

Abstract

The harvesting robot for Agaricus bisporus can significantly improve production efficiency. However, due to the limited growing space and complex environment of Agaricus bisporus, they usually grow into clusters with many adhesions and occlusions. This leads to significant stitching and target recognition challenges for Agaricus bisporus cultivation scenes. The high-precision scene stitching and recognition method, based on depth sensing, was proposed and evaluated for the harvest of Agaricus bisporus. The rapid depth map stitching algorithm based on disparity correction was proposed because the complete dataset cannot be obtained from a single collection due to the limited scene space. The strategy of hierarchical recognition of markers, called the "hierarchical watershed" algorithm, based on depth maps, is proposed to overcome the challenge of cluster occlusion in the mushroom harvest. The complete solution is applied to a robot platform that integrates scene stitching, recognition, positioning, and the target harvest. The platform is equipped with three robotic arms to increase harvest speed. The terminal position of the mechanical arm is equipped with suction cup grasping to ensure the quality of the harvest. The results showed that the overall stitching error and center coordinate positioning error were less than 2 𝑚𝑚 in the 200 𝑚𝑚 × 400 𝑚𝑚, and the success rate of picking was 95.82%.

Citation Download Citation

Chenbo Shi, Jiahao Nie, Yuanzheng Mo, Chun Zhang, Changsheng Zhu, and Xiangteng Zang "High precision scene stitching and recognition of agaricus bisporus based on depth camera", Proc. SPIE 12921, Third International Computing Imaging Conference (CITA 2023), 129213G (6 November 2023); https://doi.org/10.1117/12.2691568

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KEYWORDS

Image segmentation

Cameras

Adhesion

Image processing

Depth maps

Robotics

Image processing algorithms and systems

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