Abstract
In this paper, we propose the method of tomato fruit and pedicel recognition method using 3D camera for tomato harvesting robot. Recognition method is constructed by 2 parts; tomato fruits detection and tomato pedicel detection. To avoid detecting stem and pedicel of neighbor fruit, we propose a robust estimation method in pedicel direction calculation. We evaluated the proposed method in the greenhouse with real tomato trees, experimental result shows its robustness.
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