Autonomous Robotic System to Prune Sweet Pepper Leaves Using Semantic Segmentation with Deep Learning and Articulated Manipulator
Truong Thi Huong Giang,
Young-Jae Ryoo
Abstract:This paper proposes an autonomous robotic system to prune sweet pepper leaves using semantic segmentation with deep learning and an articulated manipulator. This system involves three main tasks: the perception of crop parts, the detection of pruning position, and the control of the articulated manipulator. A semantic segmentation neural network is employed to recognize the different parts of the sweet pepper plant, which is then used to create 3D point clouds for detecting the pruning position and the manipul… Show more
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