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Evaluation of Tomato Fruit Harvestability for Robotic Harvesting
http://hdl.handle.net/10228/00008213
http://hdl.handle.net/10228/00008213bbac9f4f-614d-4aa6-9ea1-1ea0a1a426c0
| 名前 / ファイル | ライセンス | アクション |
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10361175.pdf (560.6 kB)
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| Item type | 学術雑誌論文 = Journal Article(1) | |||||||||||||||||||||
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| 公開日 | 2021-04-22 | |||||||||||||||||||||
| 資源タイプ | ||||||||||||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||||||||||
| 資源タイプ | journal article | |||||||||||||||||||||
| タイトル | ||||||||||||||||||||||
| タイトル | Evaluation of Tomato Fruit Harvestability for Robotic Harvesting | |||||||||||||||||||||
| 言語 | en | |||||||||||||||||||||
| 言語 | ||||||||||||||||||||||
| 言語 | eng | |||||||||||||||||||||
| 著者 |
Fujinaga, Takuya
× Fujinaga, Takuya× 安川, 真輔
WEKO
28935
× 石井, 和男
WEKO
3456
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| 抄録 | ||||||||||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||||||||||
| 内容記述 | Harvestability is a quantitative index of how easy tomato fruits are to harvest using a robot. Previous studies on tomato harvesting robots have focused on tomato fruit detection methods, harvesting mechanisms, harvesting success rates, and harvesting times. However, tomato fruit harvestability using robots has not been quantitatively assessed. In this paper, we propose a method for evaluating the tomato fruit harvestability using a tomato harvesting robot. We first evaluated the harvestability qualitatively, based on the results of harvesting experiments conducted in a tomato greenhouse. Harvestability was then quantitatively evaluated using a camera (hereinafter referred to as a hand camera) attached to an end-effector of the tomato harvesting robot developed. The hand camera consists of an RGB camera and a depth camera. The occlusion ratio of obstacles (stems, peduncles, and other fruits) to a target fruit is calculated using the RGB image and depth image acquired by the hand camera. The larger the occlusion ratio was, i.e., the more obstacles there were in front of the target fruit, the more difficult the target fruit was to harvest. Conversely, if the occlusion ratio is low, the harvestability is high. This study shows that the occlusion ratio is effective as a quantitative indicator of the tomato fruit harvestability. | |||||||||||||||||||||
| 備考 | ||||||||||||||||||||||
| 内容記述タイプ | Other | |||||||||||||||||||||
| 内容記述 | 2021 IEEE/SICE International Symposium on System Integrations (SII), January 11 - 14, 2021, Iwaki, Fukushima, Japan | |||||||||||||||||||||
| 書誌情報 |
2021 IEEE/SICE International Symposium on System Integration (SII) p. 35-39, 発行日 2021-01-11 |
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| 出版社 | ||||||||||||||||||||||
| 出版者 | IEEE | |||||||||||||||||||||
| DOI | ||||||||||||||||||||||
| 関連タイプ | isVersionOf | |||||||||||||||||||||
| 識別子タイプ | DOI | |||||||||||||||||||||
| 関連識別子 | https://doi.org/10.1109/IEEECONF49454.2021.9382603 | |||||||||||||||||||||
| 日本十進分類法 | ||||||||||||||||||||||
| 主題Scheme | NDC | |||||||||||||||||||||
| 主題 | 501 | |||||||||||||||||||||
| ISSN | ||||||||||||||||||||||
| 収録物識別子タイプ | EISSN | |||||||||||||||||||||
| 収録物識別子 | 2474-2325 | |||||||||||||||||||||
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| 収録物識別子タイプ | PISSN | |||||||||||||||||||||
| 収録物識別子 | 2474-2317 | |||||||||||||||||||||
| 著作権関連情報 | ||||||||||||||||||||||
| 権利情報 | Copyright (c) 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | |||||||||||||||||||||
| キーワード | ||||||||||||||||||||||
| 主題Scheme | Other | |||||||||||||||||||||
| 主題 | Robot vision systems | |||||||||||||||||||||
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| 主題Scheme | Other | |||||||||||||||||||||
| 主題 | System integration | |||||||||||||||||||||
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| 主題Scheme | Other | |||||||||||||||||||||
| 主題 | Cameras | |||||||||||||||||||||
| キーワード | ||||||||||||||||||||||
| 主題Scheme | Other | |||||||||||||||||||||
| 主題 | End effectors | |||||||||||||||||||||
| 出版タイプ | ||||||||||||||||||||||
| 出版タイプ | AM | |||||||||||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||||||||||||||||||
| 査読の有無 | ||||||||||||||||||||||
| 値 | yes | |||||||||||||||||||||
| 研究者情報 | ||||||||||||||||||||||
| URL | https://hyokadb02.jimu.kyutech.ac.jp/html/353_ja.html | |||||||||||||||||||||
| 論文ID（連携） | ||||||||||||||||||||||
| 値 | 10361175 | |||||||||||||||||||||
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| 値 | 8772 | |||||||||||||||||||||
