Benchmark of visual and 3D lidar SLAM systems in simulation environment for vineyards

Hroob, Ibrahim; Polvara, Riccardo; Molina, Sergi; Cielniak, Grzegorz; Hanheide, Marc

doi:10.48550/arxiv.2107.05283

Cited by 1 publication

(1 citation statement)

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“…The development of autonomous robots and vehicles that can navigate vineyards has significantly advanced in the field [6].. While many of these robots are wheeled and move continuously throughout the vineyard row, some non-continuous models require manually added waypoints.…”

Section: State Of the Artmentioning

confidence: 99%

Computer-Vision Based Real Time Waypoint Generation for Autonomous Vineyard Navigation with Quadruped Robots

Milburn¹,

Gamba

Fernandes

et al. 2023

2023 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

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The VINUM project seeks to address the shortage of skilled labor in modern vineyards by introducing a cuttingedge mobile robotic solution. Leveraging the capabilities of the quadruped robot, HyQReal, this system, equipped with arm and vision sensors, offers autonomous navigation and winter pruning of grapevines reducing the need for human intervention. At the heart of this approach lies an architecture that empowers the robot to easily navigate vineyards, identify grapevines with unparalleled accuracy, and approach them for pruning with precision. A state machine drives the process, deftly switching between various stages to ensure seamless and efficient task completion. The system's performance was assessed through experimentation, focusing on waypoint precision and optimizing the robot's workspace for single-plant operations. Results indicate that the architecture is highly reliable, with a mean error of 21.5cm and a standard deviation of 17.6cm for HyQReal. However, improvements in grapevine detection accuracy are necessary for optimal performance. This work is based on a computer-vision-based navigation method for quadruped robots in vineyards, opening up new possibilities for selective task automation. The system's architecture works well in ideal weather conditions, generating and arriving at precise waypoints that maximize the attached robotic arm's workspace. This work is an extension of our short paper presented at the Italian Conference on Robotics and Intelligent Machines (I-RIM), 2022 [1].

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Section: State Of the Artmentioning

confidence: 99%