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Proceedings chapter
OA Policy
English

The Potato Operation: computer vision for agricultural robotics

Contributors

Pun, Thierry; Lefebvre, Marc; Gil Milanese, Sylvia; Brunet, Denis; Dessimoz, Jean-Daniel; Gugerli, Paul

Presented at

Boston (USA)

Published in

Bruce G. Batchelor and Michael J. Chen and Frederick M. Waltz (Ed.), SPIE Conference on Advances in Intelligent Robotic Systems. Machine Vision Architectures, Integration and Applications, p. 320-331

Collection

  • SPIE Proceedings; 1615

Publication date

1991

Abstract

Each year at harvest time millions of seed potatoes are checked for the presence of viruses by means of an Elisa test. The Potato Operation aims at automatizing the potato manipulation and pulp sampling procedure, starting from bunches of harvested potatoes and ending with the deposit of potato pulp into Elisa containers. Automatizing these manipulations addresses several issues, linking robotic and computer vision. The paper reports on the current status of this project. It first summarizes the robotic aspects, which consist of locating a potato in a bunch, grasping it, positioning it into the camera field of view, pumping the pulp sample and depositing it into a container. The computer vision aspects are then detailed. They concern locating particular potatoes in a bunch and finding the position of the best germ where the drill has to sample the pulp. The emphasis is put on the germ location problem. A general overview of the approach is given, which combines the processing of both frontal and silhouette views of the potato, together with movements of the robot arm (active vision). Frontal and silhouette analysis algorithms are then presented. Results are shown that confirm the feasibility of the approach.

UNIGE affiliation entities

UNIGE research groups

Citation (ISO format)

PUN, Thierry et al. The Potato Operation: computer vision for agricultural robotics. In: SPIE Conference on Advances in Intelligent Robotic Systems. Machine Vision Architectures, Integration and Applications. Bruce G. Batchelor and Michael J. Chen and Frederick M. Waltz (Ed.). Boston (USA). [s.l.] : [s.n.], 1991. p. 320–331. (SPIE Proceedings)

Main files (1)

Proceedings chapter (Published version)

Identifiers

  • PID : unige:47899

Additional URL for this publication

http://vision.unige.ch/publications/postscript/91/PunLGBDG_SPIE_Pdt.ps.gz
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Technical informations

Creation

06/03/2015 17:12:22

First validation

06/03/2015 17:12:22

Update

14/03/2023 22:59:43

Status update

14/03/2023 22:59:42

Last indexation

30/10/2024 23:23:23
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