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Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering

3d Perception-Based Collision-Free Robotic Leaf Probing For Automated Indoor Plant Phenotyping, Yin Bao, Dylan Shah, Lie Tang Jan 2018

3d Perception-Based Collision-Free Robotic Leaf Probing For Automated Indoor Plant Phenotyping, Yin Bao, Dylan Shah, Lie Tang

Agricultural and Biosystems Engineering Publications

Various instrumentation devices for plant physiology study such as spectrometer, chlorophyll fluorimeter, and Raman spectroscopy sensor require accurate placement of their sensor probes toward the leaf surface to meet specific requirements of probe-to-target distance and orientation. In this work, a Kinect V2 sensor, a high-precision 2D laser profilometer, and a six-axis robotic manipulator were used to automate the leaf probing task. The relatively wide field of view and high resolution of Kinect V2 allowed rapid capture of the full 3D environment in front of the robot. The location and size of each plant were estimated by k-means clustering where “k ...