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Proceedings Paper

Potato operation: computer vision for agricultural robotics
Author(s): Thierry Pun; Marc Lefebvre; Sylvia Gil; Denis Brunet; Jean-Daniel Dessimoz; Paul Guegerli
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Paper 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.

Paper Details

Date Published: 1 March 1992
PDF: 12 pages
Proc. SPIE 1615, Machine Vision Architectures, Integration, and Applications, (1 March 1992); doi: 10.1117/12.58804
Show Author Affiliations
Thierry Pun, Univ. of Geneva (Switzerland)
Marc Lefebvre, Univ. of Geneva (Switzerland)
Sylvia Gil, Univ. of Geneva (Switzerland)
Denis Brunet, Univ. of Geneva (Switzerland)
Jean-Daniel Dessimoz, Engineering School of the State of Vaud (Switzerland)
Paul Guegerli, Swiss Federal Agronomic Station (Switzerland)

Published in SPIE Proceedings Vol. 1615:
Machine Vision Architectures, Integration, and Applications
Bruce G. Batchelor; Michael J. W. Chen; Frederick M. Waltz, Editor(s)

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